EP3342544A1 - Système de robot - Google Patents

Système de robot Download PDF

Info

Publication number
EP3342544A1
EP3342544A1 EP16838731.4A EP16838731A EP3342544A1 EP 3342544 A1 EP3342544 A1 EP 3342544A1 EP 16838731 A EP16838731 A EP 16838731A EP 3342544 A1 EP3342544 A1 EP 3342544A1
Authority
EP
European Patent Office
Prior art keywords
force
robot
tip end
end effector
virtual reaction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16838731.4A
Other languages
German (de)
English (en)
Other versions
EP3342544B1 (fr
EP3342544A4 (fr
Inventor
Tsuyoshi Tojo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Medicaroid Corp
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
Medicaroid Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK, Medicaroid Corp filed Critical Kawasaki Heavy Industries Ltd
Publication of EP3342544A1 publication Critical patent/EP3342544A1/fr
Publication of EP3342544A4 publication Critical patent/EP3342544A4/fr
Application granted granted Critical
Publication of EP3342544B1 publication Critical patent/EP3342544B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/003—Controls for manipulators by means of an audio-responsive input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/028—Piezoresistive or piezoelectric sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33007—Automatically control, manually limited, operator can override control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35464—Glove, movement of fingers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37297—Two measurements, on driving motor and on slide or on both sides of motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39004—Assisted by automatic control system for certain functions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39439—Joystick, handle, lever controls manipulator directly, manually by operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39531—Several different sensors integrated into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39533—Measure grasping posture and pressure distribution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40022—Snatching, dynamic pick, effector contacts object, moves with object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40134—Force sensation of slave converted to vibration for operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40136—Stereo audio and vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40139—Force from slave converted to a digital display like fingers and object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40142—Temperature sensation, thermal feedback to operator fingers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40143—Slip, texture sensation feedback, by vibration stimulation of fingers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40145—Force sensation of slave converted to audio signal for operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40146—Telepresence, teletaction, sensor feedback from slave to operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40161—Visual display of machining, operation, remote viewing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40162—Sound display of machining operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40163—Measuring, predictive information feedback to operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40169—Display of actual situation at the remote site
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40182—Master has different configuration than slave manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40183—Tele-machining
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40195—Tele-operation, computer assisted manual operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40387—Modify without repeating teaching operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40627—Tactile image sensor, matrix, array of tactile elements, tixels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/03—Teaching system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/06—Communication with another machine
    • Y10S901/08—Robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y10S901/10—Sensor physically contacts and follows work contour
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Definitions

  • the present disclosure relates to a robot system.
  • Patent Document 1 discloses a robot system in which a mobile robot is operated, while obtaining a force sensing feedback between a joy stick and the mobile robot.
  • the robot system is applied to various works which require high precision. Examples of application of a master-slave type robot system include a component fitting work, a surgical operation system, etc.
  • one purpose of the present disclosure is to enable a highly-precise work in a robot system.
  • a robot system includes a robot body including a robot arm and an end effector attached to the robot arm, an operating device having an operating part and configured to output, when the operating part is operated, operational information according to the operation, a motion controller configured to control operation of the robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.
  • the operating device when the operating part is operated by the operator, the operating device outputs operational information according to the operation.
  • the motion controller controls operation of the robot body according to the operational information outputted from the operating device.
  • the velocity detector detects the velocity at the tip end of the end effector attached to the robot arm.
  • the virtual reaction-force information generating module outputs force information containing the first force component having the positive correlation to the velocity at the tip end of the end effector, as the virtual reaction-force information.
  • the force applying device gives the force to the operating part in order to make the operator perceive the force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module. The operator is able to perceive the force according to the virtual reaction-force information given to the operating part.
  • the operator is able to operate the operating part to operate the robot so that the robot suitably performs a work to an object to be worked, while perceiving from the operating part the virtual reaction force of which viscous resistance is exaggerated. Therefore, a highly-precise work is possible.
  • the robot body may be a slave arm
  • the operating device may be a master arm
  • the slave arm is remotely controlled by the master arm.
  • the virtual reaction-force information generating module may output force information consisting of the first force component as the virtual reaction-force information.
  • the force information consisting of the first force component is outputted as the virtual reaction-force information, and the force applying device gives the force to the operating part in order to make the operator perceive a force according to the force information consisting of the first force component.
  • the operating part does not operate unintentionally even when the operator removes his/her hand from the operating part. Therefore, it does not have a bad influence on the operability.
  • the virtual reaction-force information generating module may determine whether the velocity at the tip end of the end effector is positive or negative, and output the virtual reaction-force information when the velocity at the tip end of the end effector is positive, and output a value of zero when the velocity at the tip end of the end effector is negative.
  • the force applying device gives the force to the operating part according to the virtual reaction force information of which the viscous resistance is exaggerated.
  • the force applying device gives no force to the operating part.
  • the robot body may include a force detecting device configured to detect a force applied to the tip end of the end effector.
  • the virtual reaction-force information generating module may output force information that is obtained by adding a second force component according to the force detected by the force detecting device to the first force component, as the virtual reaction-force information.
  • the force detected by the force detecting device includes forces in each direction of three axis which are perpendicular to each other and moment acting about each axis.
  • the virtual reaction-force information generating module outputs the force information that is obtained by adding the second force component according to the force detected by the force detecting device to the first force component, as the virtual reaction-force information. Then, the force applying device gives the force to the operating part in order to make the operator perceive the force according to the force information which is consisting of the first and second force components.
  • the force given to the operating part is a force which falls within a range where the movement of the operating part is permitted when the operator removes his/her hand from the operating part.
  • the operator is able to sense from the operating part the virtual reaction force of which the viscous resistance is exaggerated more.
  • the force detecting device may be attached to a base end of the end effector, and may be a force sensor configured to detect the force applied to the tip end of the end effector.
  • the first force component may be a force component proportional to the velocity at the tip end of the end effector.
  • the robot system may further include a mode selector configured to select, as an operating mode of the motion controller in which operation of the robot body is controlled, any one of an automatic mode in which the operation of the robot body is controlled using a given preset program without reflecting the operational information on the operation of the robot body, a correctable automatic mode in which the operation of the robot body is controlled using the given preset program in the state where the operational information is reflectable on the operation of the robot body, and a manual mode in which the operation of the robot body is controlled using the operational information without using the given program.
  • the motion controller may control the robot body so as to perform an operation corrected from the operation related to the given program in response to the operational information while the robot body operates using the given program.
  • the automatic mode is selectable by the mode selector as the operation mode of the motion controller, when the operation of the robot is not necessary to be corrected, the automatic mode is selected. In this manner, it is prevented that the operating device is unnecessarily operated to correct the operation. Further, since the manual mode is selectable by the mode selector as the operation mode of the motion controller, the robot main body is operated without using the given program.
  • the remote control system of the robot may be applied to a surgical operation system, and the end effector may be a surgical instrument.
  • the highly-precise work is enabled in the robot system.
  • Fig. 1 is a schematic view illustrating one example of a configuration of a robot system according to a first embodiment of the present disclosure.
  • a robot system 100 of this embodiment is comprised of a master-slave type robot remote control system in which a slave arm 1 is remotely controlled by a master arm 2.
  • the robot remote control system 100 (hereinafter, simply referred to as "remote control system”) includes the slave arm 1 comprised of a first robot, the master arm 2 comprised of a second robot, a control device 3, a force sensor 5, an input device 9, a camera 11, and a monitor 12.
  • the slave arm 1 may be comprised of a robot of any type.
  • the slave arm 1 corresponds to a "robot body" of the present disclosure.
  • the slave arm 1 is, for example, comprised of a well-known articulated robot, and includes a pedestal 1a, an articulated or multi-joint arm 1b provided to the pedestal 1a, and a hand part 1c provided to a tip end of the arm 1b.
  • Each joint of the multi-joint arm 1b includes a driving servo motor, an encoder which detects a rotational angular position of the servo motor, and a current sensor which detects current flowing into the servo motor (none of them is illustrated).
  • An end effector 4 is attached to the hand part 1c.
  • the force sensor 5 is attached to the end effector 4.
  • the master arm 2 may be comprised of a robot of any type.
  • the master arm 2 corresponds to an "operating device" of the present disclosure.
  • the master arm 2 has an operating part 26, and is configured so that, when the operating part 26 is operated, operational information according to the operation is outputted to the control device 3.
  • the operating part 26 has a similarity structure to the multi-joint arm 1b of the slave arm 1 in this embodiment, the operating part 26 may be a simple device, such as a switch, an adjustment knob, a control lever, or a mobile terminal such as a tablet, or may be a joystick, as long as the operating part 26 is able to operate the slave arm 1 by an operator operating it.
  • the input device 9 is comprised of man-machine interface(s), such as a touch panel and/or a keyboard.
  • the input device 9 is mainly used in order to input switching of three modes, an automatic mode, a correctable operation mode, and a manual mode of the slave arm 1 (described later), as well as various data.
  • the information inputted into the input device 9 is transmitted to the control device 3.
  • the operator who is located at a position distant from a workspace of the slave arm 1 (outside the workspace) operates the master arm 2 to input operational information so that the slave arm 1 performs an operation corresponding to the operational information to perform a specific work.
  • the slave arm 1 is also capable of automatically performing a given work without the operator operating the master arm 2.
  • the operating mode in which the slave arm 1 is operated according to the operational information inputted through the master arm 2 is herein referred to as "the manual mode.”
  • the manual mode also includes a case where part of the operation of the slave arm 1 under operation is automatically corrected based on the operational information inputted by the operator operating the master arm 2.
  • the operating mode in which the slave arm 1 is operated according to a given preset program is referred to as "the automatic mode.”
  • the remote control system 100 of this embodiment is configured to be correctable of the operation of the slave arm 1 which is to be performed automatically, by reflecting the operation of the master arm 2 on the automatic operation of the slave arm 1, while the slave arm 1 operates automatically.
  • the operating mode in which the slave arm 1 is operated according to the given preset program in a state where the operational information inputted through the master arm 2 is reflectable is herein referred to as a "correctable automatic mode.”
  • the automatic mode described above is distinguished from “the correctable automatic mode” in that the operation of the master arm 2 is not reflected on the operation of the slave arm 1 when the operating mode in which the slave arm 1 is operated is the automatic mode.
  • the camera 11 is provided so as to be able to image the operation of the slave arm 1 in all or part of a movable range of the slave arm 1.
  • the image information imaged by the camera 11 is transmitted to the control device 3, and the control device 3 then controls the monitor 12 to display an image corresponding to the image information.
  • Fig. 2 is a schematic view illustrating one example of a configuration of a tip end of the slave arm 1.
  • the end effector 4 is attached to an attachment surface 1d at the tip end of the hand part 1c.
  • the end effector 4 is a robot hand which is capable of gripping a fitting component 200.
  • the robot hand includes a hand main body attached to the attachment surface 1d at the tip end of the hand part 1c, and two finger parts driven by an actuator (not illustrated), for example, comprised of a motor.
  • the actuator When the actuator operates, the two finger parts move with respect to the hand main body. That is, the two finger parts of the robot hand are movable so as to approach or separate mutually, and are capable of gripping the fitting component 200.
  • a shaft (200) held by the robot hand (4) is inserted into a hole (211) of a gear (210) by the operation of the slave arm 1.
  • Lubricating oil 212 is applied to the surface and the side surface of the hole (211) of the gear (210). Since high precision is required for this work, this work requires a skilled operator among assembly operations.
  • the force sensor 5 is attached between the attachment surface 1d at the tip end of the hand part 1c, and the end effector 4.
  • the force sensor 5 corresponds to a "force detecting device" of the present disclosure.
  • the force sensor 5 is attached to a base end of the end effector 4, and it is configured to detect a force applied to the tip end of the end effector 4.
  • the force sensor 5 is a 6-axis force sensor capable of detecting forces in XYZ-axes directions defined by a hand part coordinate system, and moment acting about each axis.
  • the hand part coordinate system is a coordinate system on the basis of the hand part 1c. In Fig.
  • the X-axis and the Y-axis are defined in parallel with the attachment surface 1d of the hand part 1c, and the Z-axis is defined in a direction perpendicular to the attachment surface Id.
  • the force sensor 5 transmits wirelessly or wiredly a detection signal to the control device 3.
  • Fig. 3 is a block diagram illustrating a configuration of the master arm 2 and the control device 3.
  • the master arm 2 includes the operating part 26, an operational information generating part 27, and a force applying device 28.
  • the operating part 26 is comprised of the multi-joint arm similar to the slave arm 1 (see Fig. 1 ), and it is operated by the operator and a force (torque) is given to each joint shaft by the force applying device 28.
  • the operational information generating part 27 is configured so that it generates, when the operating part 26 is operated by the operator, the operational information according to this operation, and outputs it to a motion controller 6.
  • the force applying device 28 is configured to give a force (torque) to each joint shaft of the multi-joint arm (the operating part 26).
  • the control device 3 includes the motion controller 6, a force-sensing information processor 7, a monitor controller 8, a memory 10, and an interface part (not illustrated).
  • the control device 3 is comprised of a device having arithmetic processing capabilities, such as a computer, a micro controller, and a microprocessor.
  • the motion controller 6, the force-sensing information processor 7, and the monitor controller 8 are implemented by an operation processor (not illustrated) of the control device 3 executing given program(s) stored in the memory 10 of the control device 3.
  • the hardware configuration of the control device 3 may be arbitrary, and the control device 3 may be provided separately from other devices, such as the slave arm 1, or may be provided integrally with other devices.
  • the motion controller 6 controls the operation of the slave arm 1 according to the operational information transmitted from the master arm 2 and the information inputted from the input device 9.
  • a mode selector 25 of the input device 9 is for the operator to select any one of "the automatic mode,” "the correctable automatic mode,” and “the manual mode” which are described above as the operating mode in which the slave arm 1 is operated.
  • the information related to the mode selected by the operator is inputted into the motion controller 6 from the mode selector 25.
  • the memory 10 is a readable and writable recording medium, which stores beforehand the given program(s) and various data for causing the slave arm 1 to automatically perform the given operation.
  • the given program is, for example, instruction information which is stored by an instruction work in which the slave arm 1 is operated to perform the given work.
  • the instruction information may be information stored by instructing the operation of the slave arm 1 by operating the master arm 2, or may be information stored by a direct instruction.
  • the memory 10 is provided integrally with the control device 3, it may be provided separately from the control device 3.
  • the motion controller 6 controls the servo motor which drives each joint shaft of the slave arm 1 based on at least one of the operational information from the master arm 2 and the prestored information.
  • the motion controller 6 generates a positional instruction value of each joint shaft of the slave arm 1, and generates a velocity instruction value based on a difference between the generated positional instruction value and the detection value (actual value) of the encoder.
  • the motion controller 6 generates a torque instruction value (current instruction value) based on the difference between the generated velocity instruction value and a present velocity value, and controls the servo motor based on a detection value (actual value) of a difference between the generated current instruction value and the current sensor.
  • the force-sensing information processor 7 includes a position calculating module 21, a velocity calculating module 22, and a virtual reaction-force information generating module 23.
  • the position calculating module 21 is capable of acquiring the detection signal of the encoder 20, and identifying the position and posture of the hand part 1c of the slave arm 1 in a common base coordinate system based on the rotational angular position of each joint shaft of the slave arm 1, and dimensions of links which constitute the slave arm 1. Then, the position calculating module 21 calculates the position at the tip end of the end effector 4 on the basis of the base coordinate system by storing beforehand a vector from the position of the hand part 1c to the tip end of the end effector 4 in the hand part coordinate system on the basis of the hand part 1c, and outputs it to the velocity calculating module 22.
  • the remote control system 100 may have a measuring device (not illustrated) capable of measuring an arbitrary point on space and generating coordinate data of the point, and the position calculating module 21 may convert the coordinate data of the measured point from a given coordinate system of the measuring device to the base coordinate system to calculate the position at the tip end of the end effector 4 on the basis of the base coordinate system.
  • a measuring device not illustrated
  • the position calculating module 21 may convert the coordinate data of the measured point from a given coordinate system of the measuring device to the base coordinate system to calculate the position at the tip end of the end effector 4 on the basis of the base coordinate system.
  • the velocity calculating module 22 acquires the position at the tip end of the end effector 4 outputted from the position calculating module 21, calculates a velocity component at the tip end of the end effector 4 based on an amount of movement at a given time interval, and outputs it to the virtual reaction-force information generating module 23.
  • the virtual reaction-force information generating module 23 acquires the detection signal of the force sensor 5, and the velocity component at the tip end of the end effector 4 calculated by the velocity calculating module 22, generates virtual reaction-force information based on the information, and outputs it to the master arm 2.
  • the virtual reaction-force information generating module 23 determines whether the force applied to the tip end of the end effector 4 increases with time based on the detection signal of the force sensor 5. If the force applied to the tip end of the end effector 4 increases, the virtual reaction-force information generating module 23 outputs force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector 4 to the force applying device 28 as the virtual reaction-force information.
  • the virtual reaction-force information generating module 23 outputs a value of zero to the force applying device 28 if the force applied to the tip end of the end effector 4 decreases with time.
  • the force applying device 28 gives a force to the operating part 26 in order to make the operator perceive the force corresponding to the virtual reaction-force information outputted from the virtual reaction-force information generating module 23.
  • synthetic reaction-force information is converted into a torque value to each joint shaft of the master arm 2 (the operating part 26).
  • the converted torque value corresponds to a torque instruction to a driver circuit of the servo motor which drives each joint.
  • the monitor controller 8 controls the monitor 12 to display the image corresponding to the image information which is imaged by the camera 11.
  • the operator is able to operate the slave arm 1 as he/she intended by operating the master arm 2 (the operating part 26) while looking at the monitor 12.
  • the remote control system 100 is described using Figs. 2 to 4 .
  • the shaft (200) held by the robot hand (4) is inserted into the hole (211) of the gear (210) by the operation of the slave arm 1 (see Fig. 2 ).
  • the operating mode selected by the operator with the mode selector 25 is "the manual mode” is described.
  • the motion controller 6 controls the operation of the slave arm 1 according to the operational information (inputted instruction) sent by operating the master arm 2 without using the given program, when the operating mode in which the slave arm 1 is operated is "the manual mode” (see Fig. 3 ).
  • Fig. 4 is a view schematically illustrating the force acting on the tip end of the robot hand (4) according to a work stage.
  • the operator operates the master arm 2 (the operating part 26) while looking at the monitor 12 to depress the robot hand (4) which grips the shaft (200) in a direction toward the gear (210) (in this figure, the positive Z-axis direction) by the operation of the slave arm 1.
  • the centerline of the shaft (200) is controlled so as to be aligned with the centerline of the hole (211) of the gear (210).
  • a contact determination of whether the tip end of the shaft (200) contacts the gear (210) is performed based on the detection signal of the force sensor 5.
  • the virtual reaction-force information generating module 23 outputs force information containing the first force component having the positive correlation to the velocity at the tip end of the robot hand (4) as virtual reaction-force information P(t) to the master arm 2 (the force applying device 28), as illustrated in Equation (1).
  • P t K ⁇ dr / dt ⁇ h t
  • r represents the position at the tip end of the robot hand (4)
  • t represents time
  • K represents a factor of proportionality.
  • h(t) represents a unit step function illustrated in Equation (2).
  • F represents the force applied to the tip end of the robot hand (4).
  • the first force component having the positive correlation to the velocity at the tip end of the robot hand (4) is a force component proportional to the velocity component at the tip end of the robot hand (4). That is, the virtual reaction-force information generating module 23 converts the velocity component dr/dt at the tip end of the robot hand (4) into an appropriate range, and outputs it to the force applying device 28 of the master arm 2 as the virtual reaction-force information.
  • noise component of the virtual reaction-force information may be removed by a low pass filter (not illustrated).
  • the force applying device 28 gives a force to the master arm 2 (the operating part 26) in order to make the operator perceive the force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module 23.
  • the operator is able to perceive the force according to the virtual reaction-force information given to the operating part 26. That is, the operator is able to operate the operating part 26 so that the shaft (200) is inserted by the operation of the slave arm 1, into the gear (210) to which the lubricating oil (212) is applied, while perceiving from the operating part 26 the virtual reaction force of which viscous resistance is exaggerated. Therefore, a highly-precise work is possible.
  • the force applying device 28 gives the force to the operating part 26 in order to make the operator perceive the force according to the force information which is consisting of the first force component (see Equation (1)), the operating part 26 does not operate unintentionally even when the operator removes his/her hand from the operating part 26. Therefore, it does not have a bad influence on the operability.
  • the operator may draw out a tip-end part of the once-inserted shaft (200) from the hole (211) during the work. Since the lubricating oil (212) is applied to the inside of the hole (211), the tip end of the shaft (200) receives a force in the positive Z-axis direction. In this case, the force F applied to the tip end of the shaft (200) (the negative Z-axis direction) decreases, compared with the case of Fig. 4(B) . As a result, since the force applied to the tip end of the robot hand (4) decreases with time, the virtual reaction-force information generating module 23 outputs the value of zero to the force applying device 28 of the master arm 2. As a result, the force applying device 28 gives no force to the operating part 26. Since the operator does not perceive the viscous resistance from the operating part 26, a smooth operation is possible.
  • the virtual reaction-force information generating module 23 outputs the force information containing the first force component having the positive correlation to the velocity at the tip end of the robot hand (4) as the virtual reaction-force information (see Equation (1)), the present disclosure is not limited to this configuration.
  • the virtual reaction-force information generating module 23 may output force information which is obtained by adding a second force component according to the force detected by the force sensor 5 to the first force component as the virtual reaction-force information P(t).
  • P t K ⁇ dr / dt ⁇ h t + f t
  • f(t) represents the second force component according to the force detected by the force sensor 5.
  • the virtual reaction-force information generating module 23 converts the force applied to the tip end of the robot hand (4) detected by the force sensor 5 into the appropriate range to set the force given to the operating part 26 as a force which falls within a range where the movement of the operating part 26 is permitted when the operator removes his/her hand from the operating part 26.
  • the virtual reaction-force information generating module 23 outputs the value of zero when the force applied to the tip end of the robot hand (4) decreases (see Equation (1)), it may output the value of zero when an absolute value of the force is smaller than a given value.
  • Fig. 5 is a block diagram illustrating a configuration of a control device 3A of a remote control system of a robot according to a modification of this embodiment. As illustrated in Fig. 5 , the remote control system of this modification differs from this embodiment in that it is not provided with the force sensor 5 (see Fig. 3 ). A force-sensing information processor 7A is further provided with a force calculating module 24.
  • the force calculating module 24 acquires from the current sensor 30 a value of current flowing into the servo motor which drives each joint shaft of the slave arm 1, and calculates the force acting on the tip end of the end effector 4 of the slave arm 1 based on a rate of change in a difference between the current instruction value and the detection value of the current sensor 30, it may calculate the force acting on the tip end of the end effector 4 of the slave arm 1 based on a rate of change in a positional deviation or velocity deviation of each joint shaft.
  • a virtual reaction-force information generating module 23A determines whether the tip end of the shaft (200) contacts the gear (210) based on an output signal of the force calculating module 24.
  • the virtual reaction-force information generating module 23A generates virtual reaction-force information only based on the velocity at the tip end of the robot hand (4).
  • the virtual reaction-force information generating module 23A determines whether the velocity at the tip end of the robot hand (4) is positive or negative, and according to Equations (1) illustrated above and (4), outputs the virtual reaction-force information P(t) when the velocity at the tip end of the robot hand (4) is positive, and outputs the value of zero when the velocity at the tip end of the robot hand (4) is negative.
  • the virtual reaction-force information generating module 23A may output the virtual reaction-force information P(t) illustrated in Equation (3).
  • the operating mode selected in the mode selector 25 may be "the automatic mode.”
  • the motion controller 6 controls the operation of the slave arm 1 according to the given preset program without using the operational information sent from the master arm 2, when the operating mode in which the slave arm 1 is operated is "the automatic mode.”
  • the operating mode selected in the mode selector 25 may be "the correctable automatic mode.”
  • the motion controller 6 uses both the given program and the operational information.
  • the motion controller 6 uses only the given program if the operational information has not been sent to the motion controller 6.
  • the motion controller 6 controls the operation of the slave arm 1 using both the given program and the operational information, if the operational information is received while the slave arm 1 operates automatically using the given program.
  • the slave arm 1 performs an operation corrected from the operation related to the given program, i.e., the operation which is to be performed automatically.
  • the motion controller 6 is configured so that the slave arm 1 is operated according to any one of operating modes, "the automatic mode,” “the correctable automatic mode” and “the manual mode,” which is selected by the operator using the mode selector 25 of the input device 9, the present disclosure is not limited to such a configuration.
  • the motion controller 6 may have an output controlling module (not illustrated) which outputs an inquiry about a permission to continue the automatic operation of the slave arm 1 to the operator when the motion controller 6 controls the slave arm 1 so that the slave arm 1 is operated in "the automatic mode" up to a given step, and a continuation determining module (not illustrated) which determines whether a continuation of the automatic operation is permitted based on an inputted signal received by a receiving module (not illustrated) after the output of the inquiry by the output controlling module (not illustrated).
  • the operator is able to perform the work after switching the mode from "the automatic mode" to "the manual mode.”
  • the remote control system 100 is applied to the work in which the component which has already been applied the lubricating oil (212) is mounted by another component, the present disclosure is not limited to this configuration.
  • the remote control system 100 may be applied to, for example, a work to an object to be worked which is in liquid, or a stirring work of high-viscosity liquid, as long as the work requires high precision. It becomes easier to distinguish whether the object to be worked is in liquid by adding a viscous resistance to the force presented to an operating device.
  • the remote control system of this embodiment is applied to a surgical operation system, and the end effector is a surgical instrument.
  • the surgical operation system is a master-slave type operation support robot. Here, it is a system in which an operator, such as a surgeon, performs an endoscope surgical operation to a patient.
  • the slave arm 1 is configured so as to operate only in "the manual mode.”
  • the input device 9 is not provided with the mode selector 25 for selecting the operating mode by the operator (see Fig. 3 ).
  • the operator operates the operating part 26 of the master arm 2 while looking at the monitor 12 to operate the slave arm 1 as he/she intended.
  • the operating part 26 may have a well-known configuration, as long as the operator is able to operate the operating part 26 to operate the slave arm 1.
  • the slave arm 1 may also have a well-known configuration, as long as it is controllable according to the operational information outputted from the master arm 2.
  • the slave arm 1 has a configuration in which the tip-end part is movable in a three-dimensional space with respect to the base-end part.
  • Fig. 6 is a schematic view illustrating a configuration of the remote control system of the robot according to the second embodiment.
  • a holder 36 instrument holder which holds an instrument (surgical instrument) 42 is formed in the hand part 1c at the tip end of the slave arm 1.
  • the force sensor 5 is attached between the attachment surface 1d (a back surface of the holder 36) of the hand part 1c at the tip end of the slave arm 1, and the instrument 42.
  • the instrument 42 is held attachably and detachably by the holder 36.
  • a shaft 43 of the instrument 42 held by the holder 36 is configured so as to extend parallel with reference directions D.
  • an endoscope assembly may be held attachably and detachably by the holder 36.
  • the operator operates the instrument 42 of the slave arm 1 by the operation of the slave arm 1.
  • the instrument 42 is comprised of a drive unit 45 provided to a base-end part thereof, the end effector (surgical tool) 4 provided to a tip-end part thereof, and a long and narrow shaft 43 which connects between the drive unit 45 and the end effector 4.
  • the reference directions D are defined in the instrument 42, and the drive unit 45, the shaft 43, and the end effector 44 are aligned in parallel with the reference directions D.
  • the end effector 4 of the instrument 42 is selected from the group comprised of surgical instruments having operable joint(s) (e.g., forceps, scissors, and a grasper, a needle holder, a microdissector, a staple applier, a tucker, a siphonage tool, a snare wire, and a clip applier), and instruments without a joint (e.g., a cutting blade, a cauterize probe, a syringe, a washer, a suction orifice).
  • operable joint(s) e.g., forceps, scissors, and a grasper, a needle holder, a microdissector, a staple applier, a tucker, a siphonage tool, a snare wire, and a clip applier
  • instruments without a joint e.g., a cutting blade, a cauterize probe, a syringe, a washer, a suction orifice
  • Fig. 7 is a view schematically illustrating a force acting on the tip end of the surgical instrument (4) according to an operating stage.
  • the operator operates the master arm 2 (the operating part 26) while looking at the monitor 12 to depress the tip end of the surgical instrument (4) attached to the shaft 43 in a direction toward the patient 214 (in this figure, the positive Z-axis direction) by the operation of the slave arm 1.
  • the tip end of the surgical instrument (4) is controlled so that it is located at an incising part Q of the patient 214.
  • a contact determination of whether the tip end of the surgical instrument (4) contacts the patient 214 is performed based on the detection signal of the force sensor 5. Since no force is applied to the tip end of the surgical instrument (4) until the tip end contacts the incising part Q, a force value detected by the force sensor 5 is zero.
  • Fig. 7(B) when the tip end of the surgical instrument (4) contacts the incising part Q, the operator starts the operation with the surgical instrument (4) by the operation of the slave arm 1 by operating the master arm 2 while looking at the monitor 12.
  • the virtual reaction-force information generating module 23 determines whether the force F applied to the tip end of the surgical instrument (4) increases with time based on the detection signal of the force sensor 5.
  • Fig. 7(B) when the tip end of the surgical instrument (4) contacts the incising part Q of the patient 214, it receives a force in the negative Z-axis direction.
  • the virtual reaction-force information generating module 23 outputs, as above Equation (1), the force information containing the first force component having the positive correlation to the velocity at the tip end of the surgical instrument (4), to the master arm 2 (the force applying device 28) as the virtual reaction-force information P(t).
  • the first force component having the positive correlation to the velocity at the tip end of the robot hand (4) is a force component proportional to the velocity component at the tip end of the robot hand (4).
  • the force applying device 28 gives a force to the master arm 2 (the operating part 26) in order to make the operator perceive the force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module 23.
  • the operator is able to perceive the force according to the virtual reaction-force information given to the operating part 26. That is, the operator is able to operate the operating part 26 so as to cut the incising part Q of the patient 214 by the surgical instrument (4), while perceiving from the operating part 26 the virtual reaction force of which the viscous resistance is exaggerated. Therefore, a highly-precise work is possible.
  • the force applying device 28 gives the force to the operating part 26 in order to make the operator perceive the force according to the force information consisting of the first force component (see Equation (1)), the operating part 26 does not have a bad influence on its operability even if the operator removes his/her hand from the operating part 26 because the operating part 26 does not operate unintentionally.
  • the operator may take out the once-inserted surgical instrument (4) from in vivo of the patient 214 during or after the operation.
  • the tip end of the surgical instrument (4) receives a force in the positive Z-axis direction.
  • the power F applied to the tip end of the surgical instrument (4) decreases compared with the case of Fig. 7(B) .
  • the virtual reaction-force information generating module 23 outputs the value of zero to the force applying device 28 of the master arm 2.
  • the force applying device 28 does not give any force to the operating part 26. Since the operator does not perceive the viscous resistance from the operating part 26, a smooth operation is possible.
  • the virtual reaction-force information generating module 23 outputs the force information containing the first force component having positive correlation to the velocity at the tip end of the surgical instrument (4) as the virtual reaction-force information (see Equation (1)), the present disclosure is not limited to this configuration.
  • the virtual reaction-force information generating module 23 may output the virtual reaction-force information P(t) illustrated in Equation (3) described above.
  • the virtual reaction-force information generating module 23 converts the force applied to the tip end of the surgical instrument (4), which is detected by the force sensor 5, into an appropriate range, to set the force given to the operating part 26 as a force which falls within a range where the movement of the operating part 26 is permitted, when the operator removes his/her hand from the operating part 26.
  • the virtual reaction-force information generating module 23 outputs the value of zero when the force applied to the tip end of the surgical instrument (4) decreases (see Equation (1)), it may output the value of zero when an absolute value of the force is smaller than a given value.
  • this embodiment it may not be provided with the force sensor 5, similar to the configuration of the modification of the first embodiment (see Fig. 5 ).
  • the virtual reaction-force information is generated only based on the velocity at the tip end of the surgical instrument (4). Since the force sensor 5 is unnecessary, similar effects to this embodiment can be obtained with a simple configuration.
  • the first force component having the positive correlation to the velocity at the tip end of the end effector 4 is the force component proportional to the velocity component at the tip end of the end effector 4 (see Equation (1)), it may be a force component, for example, proportional to a square of the velocity component, as long as it is a force component which increases according to the increase in the velocity component.
  • the robot system 100 of each of the embodiments described above is comprised of the master-slave type remote control system
  • the present disclosure is not limited to this configuration.
  • it may be configured in other robot systems so that, when a work is performed by the end effector attached to the robot arm, surrounding persons or administrator(s) of the system perceive the virtual reaction force.
  • the present disclosure is useful when applying the robot system to the work which requires high precision.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Automatic Assembly (AREA)
  • Control Of Position Or Direction (AREA)
EP16838731.4A 2015-08-25 2016-06-24 Système de robot Active EP3342544B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015165479 2015-08-25
PCT/JP2016/003064 WO2017033379A1 (fr) 2015-08-25 2016-06-24 Système de robot

Publications (3)

Publication Number Publication Date
EP3342544A1 true EP3342544A1 (fr) 2018-07-04
EP3342544A4 EP3342544A4 (fr) 2019-05-29
EP3342544B1 EP3342544B1 (fr) 2023-01-11

Family

ID=58099621

Family Applications (24)

Application Number Title Priority Date Filing Date
EP16838709.0A Active EP3342552B1 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838713.2A Active EP3342554B1 (fr) 2015-08-25 2016-05-27 Système robotique et son procédé d'actionnement
EP16838712.4A Withdrawn EP3321044A4 (fr) 2015-08-25 2016-05-27 Système manipulateur à commande à distance et procédé pour son fonctionnement
EP16838716.5A Pending EP3342557A4 (fr) 2015-08-25 2016-05-27 Système de robot
EP16838714.0A Withdrawn EP3342555A4 (fr) 2015-08-25 2016-05-27 Système de manipulateur à commande à distance et son procédé de fonctionnement
EP16838711.6A Active EP3342561B1 (fr) 2015-08-25 2016-05-27 Système robotique à télécommande
EP16838717.3A Withdrawn EP3342562A4 (fr) 2015-08-25 2016-05-27 Système de robot télécommandé
EP16838715.7A Withdrawn EP3342556A4 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838710.8A Pending EP3342553A4 (fr) 2015-08-25 2016-05-27 Système de partage d'informations et procédé de partage d'informations pour partager des informations entre de multiples systèmes robotiques
EP16838718.1A Withdrawn EP3342563A4 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance
EP16838705.8A Withdrawn EP3342543A4 (fr) 2015-08-25 2016-05-27 Système robotique à télécommande
EP16838703.3A Active EP3342541B1 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance
EP16838708.2A Pending EP3342551A4 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838707.4A Pending EP3342550A4 (fr) 2015-08-25 2016-05-27 Système manipulateur
EP16838702.5A Active EP3342549B1 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance et son procédé de fonctionnement
EP16838719.9A Withdrawn EP3342564A4 (fr) 2015-08-25 2016-05-27 Système de robot commandé à distance
EP16838704.1A Pending EP3342542A4 (fr) 2015-08-25 2016-05-27 Système de robot industriel à commande à distance
EP16838729.8A Withdrawn EP3342559A4 (fr) 2015-08-25 2016-06-24 Système robotique
EP16838728.0A Active EP3342558B1 (fr) 2015-08-25 2016-06-24 Robot industriel et son procédé de fonctionnement
EP16838733.0A Withdrawn EP3342546A4 (fr) 2015-08-25 2016-06-24 Système de robot
EP16838732.2A Withdrawn EP3342545A4 (fr) 2015-08-25 2016-06-24 Système robotique
EP16838730.6A Active EP3342565B1 (fr) 2015-08-25 2016-06-24 Système de robot
EP16838731.4A Active EP3342544B1 (fr) 2015-08-25 2016-06-24 Système de robot
EP16838743.9A Active EP3342560B1 (fr) 2015-08-25 2016-07-15 Système de robot et son procédé de fonctionnement

Family Applications Before (22)

Application Number Title Priority Date Filing Date
EP16838709.0A Active EP3342552B1 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838713.2A Active EP3342554B1 (fr) 2015-08-25 2016-05-27 Système robotique et son procédé d'actionnement
EP16838712.4A Withdrawn EP3321044A4 (fr) 2015-08-25 2016-05-27 Système manipulateur à commande à distance et procédé pour son fonctionnement
EP16838716.5A Pending EP3342557A4 (fr) 2015-08-25 2016-05-27 Système de robot
EP16838714.0A Withdrawn EP3342555A4 (fr) 2015-08-25 2016-05-27 Système de manipulateur à commande à distance et son procédé de fonctionnement
EP16838711.6A Active EP3342561B1 (fr) 2015-08-25 2016-05-27 Système robotique à télécommande
EP16838717.3A Withdrawn EP3342562A4 (fr) 2015-08-25 2016-05-27 Système de robot télécommandé
EP16838715.7A Withdrawn EP3342556A4 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838710.8A Pending EP3342553A4 (fr) 2015-08-25 2016-05-27 Système de partage d'informations et procédé de partage d'informations pour partager des informations entre de multiples systèmes robotiques
EP16838718.1A Withdrawn EP3342563A4 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance
EP16838705.8A Withdrawn EP3342543A4 (fr) 2015-08-25 2016-05-27 Système robotique à télécommande
EP16838703.3A Active EP3342541B1 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance
EP16838708.2A Pending EP3342551A4 (fr) 2015-08-25 2016-05-27 Système robotique
EP16838707.4A Pending EP3342550A4 (fr) 2015-08-25 2016-05-27 Système manipulateur
EP16838702.5A Active EP3342549B1 (fr) 2015-08-25 2016-05-27 Système de robot à commande à distance et son procédé de fonctionnement
EP16838719.9A Withdrawn EP3342564A4 (fr) 2015-08-25 2016-05-27 Système de robot commandé à distance
EP16838704.1A Pending EP3342542A4 (fr) 2015-08-25 2016-05-27 Système de robot industriel à commande à distance
EP16838729.8A Withdrawn EP3342559A4 (fr) 2015-08-25 2016-06-24 Système robotique
EP16838728.0A Active EP3342558B1 (fr) 2015-08-25 2016-06-24 Robot industriel et son procédé de fonctionnement
EP16838733.0A Withdrawn EP3342546A4 (fr) 2015-08-25 2016-06-24 Système de robot
EP16838732.2A Withdrawn EP3342545A4 (fr) 2015-08-25 2016-06-24 Système robotique
EP16838730.6A Active EP3342565B1 (fr) 2015-08-25 2016-06-24 Système de robot

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP16838743.9A Active EP3342560B1 (fr) 2015-08-25 2016-07-15 Système de robot et son procédé de fonctionnement

Country Status (7)

Country Link
US (24) US11147641B2 (fr)
EP (24) EP3342552B1 (fr)
JP (26) JP6754364B2 (fr)
KR (14) KR102091192B1 (fr)
CN (24) CN107921639B (fr)
TW (24) TW201716195A (fr)
WO (24) WO2017033363A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220378536A1 (en) * 2020-02-12 2022-12-01 Riverfield Inc. Surgical robot and controller of surgical robot

Families Citing this family (346)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US9314924B1 (en) * 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US10514687B2 (en) * 2015-01-08 2019-12-24 Rethink Robotics Gmbh Hybrid training with collaborative and conventional robots
CN107921639B (zh) * 2015-08-25 2021-09-21 川崎重工业株式会社 多个机器人系统间的信息共享系统及信息共享方法
JP6067805B1 (ja) * 2015-09-07 2017-01-25 Ntn株式会社 リンク作動装置を用いた複合作業装置
KR102344021B1 (ko) * 2015-12-23 2021-12-28 삼성전자주식회사 디바이스를 제어하는 방법 및 장치
US20170259433A1 (en) * 2016-03-11 2017-09-14 Seiko Epson Corporation Robot control device, information processing device, and robot system
US11498217B2 (en) * 2016-07-14 2022-11-15 Siemens Healthcare Diagnostics Inc. Methods and apparatus to calibrate a positional orientation between a robot gripper and a component
US20180021949A1 (en) * 2016-07-20 2018-01-25 Canon Kabushiki Kaisha Robot apparatus, robot controlling method, program, and recording medium
CN107962563B (zh) * 2016-10-20 2022-10-04 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018069361A (ja) * 2016-10-27 2018-05-10 セイコーエプソン株式会社 力制御座標軸設定装置、ロボットおよび力制御座標軸設定方法
JP6484213B2 (ja) * 2016-12-09 2019-03-13 ファナック株式会社 複数のロボットを含むロボットシステム、ロボット制御装置、及びロボット制御方法
JP6811635B2 (ja) * 2017-02-10 2021-01-13 川崎重工業株式会社 ロボットシステム及びその制御方法
JP6869060B2 (ja) * 2017-03-15 2021-05-12 株式会社オカムラ マニピュレータの制御装置、制御方法およびプログラム、ならびに作業システム
US10742865B2 (en) * 2017-04-14 2020-08-11 International Business Machines Corporation Configuring cognitive robot vision
JP2018176397A (ja) * 2017-04-21 2018-11-15 オムロン株式会社 ロボットシステム
JP6487489B2 (ja) * 2017-05-11 2019-03-20 ファナック株式会社 ロボット制御装置及びロボット制御プログラム
JP7223493B2 (ja) * 2017-05-19 2023-02-16 川崎重工業株式会社 ロボットシステム
JP7185749B2 (ja) * 2017-05-19 2022-12-07 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
JP6959762B2 (ja) * 2017-05-19 2021-11-05 川崎重工業株式会社 遠隔操作ロボットシステム
JP7244985B2 (ja) * 2017-05-19 2023-03-23 川崎重工業株式会社 操作装置及び操作システム
JP7049069B2 (ja) * 2017-05-19 2022-04-06 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
DE102017115833A1 (de) * 2017-07-13 2019-01-17 SW Automation GmbH Verfahren zum Betreiben einer Werkstück-Bearbeitungs-Anlage und Werkstück-Bearbeitungs-Anlage
CN107378976A (zh) * 2017-07-21 2017-11-24 诺伯特智能装备（山东）有限公司 一种开放式工业机器人控制系统
CN107391340B (zh) * 2017-07-21 2020-10-20 苏州浪潮智能科技有限公司 一种整机柜服务器节点热拔插系统和控制方法
JP6633580B2 (ja) * 2017-08-02 2020-01-22 ファナック株式会社 ロボットシステム及びロボット制御装置
JP7066357B2 (ja) * 2017-08-31 2022-05-13 川崎重工業株式会社 ロボットシステム及びその運転方法
JP6906404B2 (ja) * 2017-09-08 2021-07-21 株式会社安川電機 ロボットシステム、ロボット制御装置および被加工物の製造方法
CN107378954A (zh) * 2017-09-22 2017-11-24 苏州诺乐智能科技有限公司 一种工业机器人用自动化控制软件
JP6606145B2 (ja) * 2017-09-25 2019-11-13 ファナック株式会社 ロボットシステム
JP6942420B2 (ja) * 2017-09-29 2021-09-29 東芝情報システム株式会社 無人無索潜水機システム
JP2019063952A (ja) * 2017-10-02 2019-04-25 株式会社オカムラ 管理システム及び制御方法
JP6861604B2 (ja) * 2017-10-02 2021-04-21 株式会社オカムラ 管理システム及び制御方法
JP6971754B2 (ja) * 2017-10-02 2021-11-24 株式会社オカムラ 管理システム、管理システムの制御方法及びプログラム
US11358290B2 (en) * 2017-10-19 2022-06-14 Canon Kabushiki Kaisha Control apparatus, robot system, method for operating control apparatus, and storage medium
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11793537B2 (en) 2017-10-30 2023-10-24 Cilag Gmbh International Surgical instrument comprising an adaptive electrical system
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
JP7041492B2 (ja) * 2017-10-31 2022-03-24 川崎重工業株式会社 ロボットシステム
JP6763846B2 (ja) * 2017-11-24 2020-09-30 ファナック株式会社 ロボットの教示操作を行う教示装置および教示方法
WO2019107454A1 (fr) * 2017-11-28 2019-06-06 川崎重工業株式会社 Machine de transfert de compétences
DE102017221397A1 (de) * 2017-11-29 2019-05-29 Krones Ag Transportanlage für Behälter in der Getränkeindustrie und Schmierverfahren
DE102017011130B4 (de) * 2017-12-01 2021-03-04 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Roboters
US10613619B2 (en) * 2017-12-15 2020-04-07 Google Llc Ultra-low power mode for a low-cost force-sensing device
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US20190201146A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Safety systems for smart powered surgical stapling
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
CN107891432B (zh) * 2017-12-28 2021-08-10 长春工业大学 一种小型钻铣机器人结构及控制系统
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US10892995B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11013563B2 (en) 2017-12-28 2021-05-25 Ethicon Llc Drive arrangements for robot-assisted surgical platforms
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11213359B2 (en) * 2017-12-28 2022-01-04 Cilag Gmbh International Controllers for robot-assisted surgical platforms
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11026751B2 (en) 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
WO2019139815A1 (fr) 2018-01-12 2019-07-18 Duke University Appareil, procédé et article pour faciliter la planification de mouvement d'un véhicule autonome dans un environnement comportant des objets dynamiques
TWI660255B (zh) * 2018-01-19 2019-05-21 所羅門股份有限公司 Workpiece processing method and processing system
TWI750310B (zh) * 2018-01-29 2021-12-21 達明機器人股份有限公司 複製機器手臂作業點位的方法
JP6662926B2 (ja) 2018-01-31 2020-03-11 ファナック株式会社 ロボットおよびロボットに関する保守時期の報知方法
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
JP6994411B2 (ja) * 2018-02-28 2022-01-14 オークマ株式会社 工作機械システム
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11399858B2 (en) 2018-03-08 2022-08-02 Cilag Gmbh International Application of smart blade technology
JP6964293B2 (ja) 2018-03-08 2021-11-10 地方独立行政法人神奈川県立産業技術総合研究所 力触覚伝達システム、力触覚伝達方法及びプログラム
US11678927B2 (en) 2018-03-08 2023-06-20 Cilag Gmbh International Detection of large vessels during parenchymal dissection using a smart blade
US11738457B2 (en) 2018-03-21 2023-08-29 Realtime Robotics, Inc. Motion planning of a robot for various environments and tasks and improved operation of same
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
JP6737827B2 (ja) * 2018-03-29 2020-08-12 ファナック株式会社 協働ロボットの制御装置及び制御方法
KR102102190B1 (ko) * 2018-04-11 2020-06-01 한국생산기술연구원 임펠러 재설계에 따라 출력 변경이 가능한 단일채널펌프의 설계안 도출방법
US10969760B2 (en) * 2018-04-12 2021-04-06 Faro Technologies, Inc. Coordinate measurement system with auxiliary axis
US11874101B2 (en) 2018-04-12 2024-01-16 Faro Technologies, Inc Modular servo cartridges for precision metrology
JP6816060B2 (ja) 2018-04-23 2021-01-20 ファナック株式会社 作業ロボットシステムおよび作業ロボット
JP6849631B2 (ja) * 2018-04-23 2021-03-24 ファナック株式会社 作業ロボットシステムおよび作業ロボット
TWI677414B (zh) * 2018-04-25 2019-11-21 國立中興大學 用於操作一加工裝置的方法和系統
JP6810093B2 (ja) * 2018-04-25 2021-01-06 ファナック株式会社 ロボットのシミュレーション装置
JP7087632B2 (ja) * 2018-04-26 2022-06-21 セイコーエプソン株式会社 ロボット制御装置
JP7225560B2 (ja) * 2018-04-26 2023-02-21 セイコーエプソン株式会社 制御装置、ロボットシステム、及び表示制御方法
JP6919622B2 (ja) * 2018-04-26 2021-08-18 オムロン株式会社 制御システム、制御方法、および制御プログラム
CN108712632A (zh) * 2018-04-28 2018-10-26 广东电网有限责任公司 站内光缆巡视系统及巡视方法
DE102018207354B3 (de) * 2018-05-11 2019-05-29 Kuka Deutschland Gmbh Verfahren und System zum Steuern eines Roboters
US11820007B2 (en) * 2018-05-11 2023-11-21 Nissan Motor Co., Ltd. Abnormality detection device and abnormality detection method
CN110480291B (zh) * 2018-05-15 2021-07-16 中国科学院沈阳自动化研究所 一种基于6自由度工业机器人的复杂结构件精密对接方法
JP7079435B2 (ja) * 2018-05-21 2022-06-02 Ｔｅｌｅｘｉｓｔｅｎｃｅ株式会社 ロボット制御装置、ロボット制御方法及びロボット制御プログラム
JP7135437B2 (ja) * 2018-05-22 2022-09-13 セイコーエプソン株式会社 ロボットシステムの制御方法及びロボットシステム
JP7039389B2 (ja) * 2018-05-25 2022-03-22 川崎重工業株式会社 ロボットシステム及びロボット制御方法
JP2019205111A (ja) * 2018-05-25 2019-11-28 セイコーエプソン株式会社 画像処理装置、ロボット、及び、ロボットシステム
JP7267688B2 (ja) 2018-05-31 2023-05-02 キヤノン株式会社 ロボットシステム、ロボットアームの制御方法、物品の製造方法、駆動装置および駆動装置の制御方法
JP6901434B2 (ja) * 2018-06-15 2021-07-14 ファナック株式会社 ロボットシステムおよびロボット
JP7173765B2 (ja) * 2018-06-25 2022-11-16 川崎重工業株式会社 ロボット制御システム
CN110480684A (zh) * 2018-07-10 2019-11-22 肇庆市高新区晓靖科技有限公司 一种机械手的无死角识别器
JP7169593B2 (ja) * 2018-07-20 2022-11-11 霊動科技（北京）有限公司 側方追従及び障害物回避を備えたスマート自己駆動システム
CN110733034B (zh) * 2018-07-20 2022-10-21 台达电子工业股份有限公司 机械手臂校正方法、机械手臂校正系统以及输送系统
JP7167518B2 (ja) * 2018-07-20 2022-11-09 セイコーエプソン株式会社 制御装置、ヘッドマウントディスプレイおよびロボットシステム
JP7161334B2 (ja) * 2018-07-31 2022-10-26 川崎重工業株式会社 ロボットシステム
JP7065721B2 (ja) * 2018-07-31 2022-05-12 川崎重工業株式会社 ロボットシステム
JP6977686B2 (ja) 2018-08-06 2021-12-08 オムロン株式会社 制御システムおよび制御装置
JP2020025992A (ja) * 2018-08-09 2020-02-20 株式会社東芝 制御装置、制御方法、およびプログラム
CN112513920B (zh) * 2018-08-10 2024-06-25 川崎重工业株式会社 中介装置以及使用该中介装置的中介方法
JP7401184B2 (ja) * 2018-08-10 2023-12-19 川崎重工業株式会社 ロボットシステム
JP7281349B2 (ja) * 2018-08-10 2023-05-25 川崎重工業株式会社 遠隔操作システム
WO2020032211A1 (fr) * 2018-08-10 2020-02-13 川崎重工業株式会社 Dispositif de génération de données, procédé de génération de données, programme de génération de données et système opérationnel à distance
KR102529023B1 (ko) * 2018-08-10 2023-05-08 카와사키 주코교 카부시키 카이샤 트레이닝 처리 장치, 중개 장치, 트레이닝 시스템 및 트레이닝 처리 방법
CN109318238B (zh) * 2018-08-15 2022-06-17 南阳师范学院 一种火灾阀门关闭消防机器人
CN108972626A (zh) * 2018-08-22 2018-12-11 珠海格力电器股份有限公司 一种重力补偿方法、装置、存储介质及机器人
DE102019122790B4 (de) * 2018-08-24 2021-03-25 Nvidia Corp. Robotersteuerungssystem
DE102018120748A1 (de) * 2018-08-24 2020-02-27 8Sense Gmbh Betätigungsmodul und Verfahren mit einem Betätigungsmodul
US11833681B2 (en) * 2018-08-24 2023-12-05 Nvidia Corporation Robotic control system
JP2020032320A (ja) * 2018-08-27 2020-03-05 コベルコ建機株式会社 解体システム
KR102543596B1 (ko) * 2018-08-31 2023-06-19 삼성전자주식회사 외력의 측정을 위한 적어도 하나의 파라미터를 산출하는 방법 및 이를 수행하는 전자 장치
KR102112836B1 (ko) 2018-09-03 2020-05-19 창원대학교 산학협력단 로봇암 제어 시스템
KR102092575B1 (ko) * 2018-09-06 2020-03-24 주식회사 에스에프에이 둘 이상의 핸드를 구비하는 이송 장치 및 그 동작 방법
JP6666400B1 (ja) * 2018-09-10 2020-03-13 Ｔｅｌｅｘｉｓｔｅｎｃｅ株式会社 ロボット制御装置、ロボット制御方法及びロボット制御システム
US11597084B2 (en) 2018-09-13 2023-03-07 The Charles Stark Draper Laboratory, Inc. Controlling robot torque and velocity based on context
CN109397285B (zh) * 2018-09-17 2021-09-07 鲁班嫡系机器人（深圳）有限公司 一种装配方法、装配装置及装配设备
JP2020044610A (ja) * 2018-09-19 2020-03-26 株式会社デンソーウェーブ ロボットの制御方法
TWI699851B (zh) * 2018-09-21 2020-07-21 景興精密機械有限公司 自動定位系統及其自動定位方法
GB2608752B (en) * 2018-10-03 2023-06-14 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
US11505341B1 (en) * 2018-10-05 2022-11-22 Douglas Machine Inc. Robotic case packer platform and packing method
JP6916157B2 (ja) * 2018-10-23 2021-08-11 ファナック株式会社 人と協働作業を行うロボットシステム、及びロボット制御方法
EP3875230A4 (fr) * 2018-11-01 2022-07-27 Canon Kabushiki Kaisha Dispositif d'entrée externe, système de robot, procédé de commande pour système de robot, programme de commande et support d'enregistrement
JP7205752B2 (ja) * 2018-11-09 2023-01-17 オムロン株式会社 ロボット制御装置、ロボット制御方法、及びロボット制御プログラム
CN109785391A (zh) * 2018-11-29 2019-05-21 昆山睿力得软件技术有限公司 一种基于视觉引导的自动搪锡系统
DE102018130462A1 (de) * 2018-11-30 2020-06-04 Bayerische Motoren Werke Aktiengesellschaft Verfahren, System und Computerprogramm zum Betreiben eines oder mehrerer Roboters, eines Robotersystems und/oder eines Roboterschwarms
CN109500815B (zh) * 2018-12-03 2023-06-02 日照市越疆智能科技有限公司 用于前置姿态判断学习的机器人
CN109571478B (zh) * 2018-12-17 2021-07-27 浙江大学昆山创新中心 一种串联多自由度机械臂末端循迹控制方法
JP6878391B2 (ja) 2018-12-18 2021-05-26 ファナック株式会社 ロボットシステムとその調整方法
CN113165161B (zh) * 2018-12-21 2024-02-06 川崎重工业株式会社 机器人系统以及机器人系统的控制方法
JP6865262B2 (ja) * 2018-12-26 2021-04-28 川崎重工業株式会社 ロボットシステムの制御装置
JP7117237B2 (ja) * 2018-12-27 2022-08-12 川崎重工業株式会社 ロボット制御装置、ロボットシステム及びロボット制御方法
CN109407174A (zh) * 2018-12-28 2019-03-01 同方威视技术股份有限公司 安全检测系统及方法
CN109623824A (zh) * 2018-12-29 2019-04-16 深圳市越疆科技有限公司 人工智能轨迹复现方法
CN109739357B (zh) * 2019-01-02 2020-12-11 京东方科技集团股份有限公司 机械手的控制方法及装置
CN113226024B (zh) * 2019-01-16 2022-07-22 株式会社尼罗沃克 无人机系统、无人机、无人机系统的控制方法和计算机可读取记录介质
JP7190919B2 (ja) 2019-01-25 2022-12-16 株式会社ソニー・インタラクティブエンタテインメント 画像解析システム
JP7309371B2 (ja) * 2019-01-25 2023-07-18 株式会社ソニー・インタラクティブエンタテインメント ロボット制御システム
CN109822570A (zh) * 2019-01-31 2019-05-31 秒针信息技术有限公司 机械臂的监控方法及装置
JP6989542B2 (ja) * 2019-01-31 2022-01-05 ファナック株式会社 ロボット制御装置
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11331100B2 (en) 2019-02-19 2022-05-17 Cilag Gmbh International Staple cartridge retainer system with authentication keys
CN109986559B (zh) * 2019-02-28 2021-08-10 深圳镁伽科技有限公司 参数编辑方法和系统、控制设备及存储介质
CN109859605A (zh) * 2019-02-28 2019-06-07 江苏集萃微纳自动化系统与装备技术研究所有限公司 工业机器人无示教器的3d示教方法
JP2020157467A (ja) * 2019-03-22 2020-10-01 川崎重工業株式会社 ロボットシステム
EP3943256A4 (fr) * 2019-03-22 2022-11-30 Kawasaki Jukogyo Kabushiki Kaisha Système de robot
CN109822575B (zh) * 2019-03-25 2020-12-08 华中科技大学 一种利用投影特征图像进行移动加工的机器人系统及方法
JP7318258B2 (ja) * 2019-03-26 2023-08-01 コベルコ建機株式会社 遠隔操作システムおよび遠隔操作サーバ
WO2020212806A1 (fr) * 2019-04-16 2020-10-22 King Abdullah University Of Science And Technology Système et procédé de fab et lab virtuel
CN113905855B (zh) 2019-04-17 2023-08-25 实时机器人有限公司 运动规划图生成用户界面、系统、方法和规则
CN113891786B (zh) * 2019-04-17 2024-07-12 优傲机器人公司 基于自适应摩擦来控制机器人臂的方法
WO2020221311A1 (fr) * 2019-04-30 2020-11-05 齐鲁工业大学 Système de commande de robot mobile basé sur un dispositif portable et procédé de commande
JP7339776B2 (ja) * 2019-05-28 2023-09-06 川崎重工業株式会社 制御システム、機械装置システム及び制御方法
JP7333197B2 (ja) * 2019-05-28 2023-08-24 川崎重工業株式会社 制御システム、機械装置システム及び制御方法
WO2020239184A2 (fr) * 2019-05-29 2020-12-03 Universal Robots A/S Commande d'un bras de robot multifonctionnel
US11009964B2 (en) * 2019-06-06 2021-05-18 Finch Technologies Ltd. Length calibration for computer models of users to generate inputs for computer systems
US11440199B2 (en) 2019-06-18 2022-09-13 Gang Hao Robotic service system in restaurants
CN110181517B (zh) * 2019-06-21 2022-05-10 西北工业大学 一种基于虚拟夹具的双人遥操作训练方法
JP7396819B2 (ja) * 2019-06-21 2023-12-12 ファナック株式会社 ロボット装置の動作を動画にて撮像するカメラを備える監視装置
JP7186349B2 (ja) * 2019-06-27 2022-12-09 パナソニックＩｐマネジメント株式会社 エンドエフェクタの制御システムおよびエンドエフェクタの制御方法
CN110181521A (zh) * 2019-06-28 2019-08-30 长沙开山斧智能科技有限公司 确定机器人轨迹的操作控制方法及其控制系统
CN110181520A (zh) * 2019-06-28 2019-08-30 长沙开山斧智能科技有限公司 多轴机器人控制系统及其控制方法
CN110428465A (zh) * 2019-07-12 2019-11-08 中国科学院自动化研究所 基于视觉和触觉的机械臂抓取方法、系统、装置
CN110549331B (zh) * 2019-07-16 2024-05-03 浙江工业大学 精密孔轴自动装配的方法和设备
JP7475649B2 (ja) * 2019-07-17 2024-04-30 株式会社リッコー ロボットボディケアシステム、ロボットボディケア方法、およびロボットボディケアプログラム
JP6733973B1 (ja) * 2019-07-17 2020-08-05 株式会社リッコー ロボットボディケアシステム、ロボットボディケア方法、およびロボットボディケアプログラム
CN110509282B (zh) * 2019-07-18 2022-11-08 上海大学 一种摄像机器人遥操作装置
JP7169561B2 (ja) * 2019-07-18 2022-11-11 株式会社安川電機 ロボットシステム、ロボットの制御方法、サーボシステム
CN110340894B (zh) * 2019-07-18 2020-10-16 浙江大学 一种基于模糊逻辑的遥操作系统自适应多边控制方法
JP7339806B2 (ja) * 2019-08-05 2023-09-06 川崎重工業株式会社 制御システム、ロボットシステム及び制御方法
JP2021023705A (ja) * 2019-08-08 2021-02-22 川崎重工業株式会社 手術マニピュレータの入力装置
WO2021029205A1 (fr) * 2019-08-09 2021-02-18 ソニー株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations, programme et robot
DE102020207520A1 (de) * 2019-09-02 2021-03-04 Robert Bosch Gesellschaft mit beschränkter Haftung Werkzeugmaschinenvorrichtung
JP7404717B2 (ja) * 2019-09-03 2023-12-26 セイコーエプソン株式会社 プログラム識別方法、およびロボットシステム
TWI707214B (zh) * 2019-09-18 2020-10-11 崑山科技大學 機械手臂教學模組
DE102019214418A1 (de) * 2019-09-23 2021-03-25 Robert Bosch Gmbh Verfahren zum Fernsteuern eines Roboters
JP7402450B2 (ja) * 2019-10-09 2023-12-21 Ｔｅｌｅｘｉｓｔｅｎｃｅ株式会社 ロボット制御装置、ロボット制御方法及びロボット制御システム
JP7339113B2 (ja) * 2019-10-09 2023-09-05 ファナック株式会社 ロボット制御装置及びロボット制御方法
CN110712205B (zh) * 2019-10-11 2021-07-02 达闼机器人有限公司 异常监控方法、电子设备及计算机可读存储介质
US11607816B2 (en) 2019-10-25 2023-03-21 Dexterity, Inc. Detecting robot grasp of very thin object or feature
US11772262B2 (en) 2019-10-25 2023-10-03 Dexterity, Inc. Detecting slippage from robotic grasp
CN111221408A (zh) * 2019-11-11 2020-06-02 路邦科技授权有限公司 一种机器人触感反馈手套的控制系统
CN110834331A (zh) * 2019-11-11 2020-02-25 路邦科技授权有限公司 一种基于视觉控制的仿生机器人动作控制方法
CN110757461A (zh) * 2019-11-13 2020-02-07 江苏方时远略科技咨询有限公司 一种工业移动机器人的控制系统及其控制方法
CN114730180A (zh) * 2019-11-13 2022-07-08 杰富意钢铁株式会社 生产设备的运行方法以及运行系统
CN110815223B (zh) * 2019-11-14 2021-05-14 哈尔滨玄智科技有限公司 一种机器人无线控制方法和系统
KR102266074B1 (ko) * 2019-11-14 2021-06-16 재단법인 한국섬유기계융합연구원 원단 자동 카운트 장치
CN110716481A (zh) * 2019-11-15 2020-01-21 徐州合卓机械科技有限公司 一种基于5g网络的随车起重机远程控制系统
CN110919638B (zh) * 2019-11-15 2021-11-02 华中科技大学 一种3+4构型双臂协作机器人加工系统及方法
CN110695999B (zh) * 2019-11-19 2020-11-27 山东大学 一种基于触觉与听觉的机械臂柔性装配方法
CN112894794B (zh) * 2019-11-19 2022-08-05 深圳市优必选科技股份有限公司 人体手臂动作模仿方法、装置、终端设备及存储介质
JP7374867B2 (ja) * 2019-11-27 2023-11-07 株式会社安川電機 制御システム、ローカルコントローラ及び制御方法
CN112894764A (zh) * 2019-12-03 2021-06-04 台达电子工业股份有限公司 机械手臂系统及机械手臂控制方法
CN110936377A (zh) * 2019-12-04 2020-03-31 路邦科技授权有限公司 一种机器人的动作传感与电脑编程互换控制系统
JP7401277B2 (ja) * 2019-12-04 2023-12-19 ファナック株式会社 ロボットプログラミング装置
WO2021117871A1 (fr) * 2019-12-13 2021-06-17 川崎重工業株式会社 Système de robot
US20230038804A1 (en) * 2019-12-13 2023-02-09 Kawasaki Jukogyo Kabushiki Kaisha Master-slave system and controlling method
JP7464386B2 (ja) * 2019-12-20 2024-04-09 ファナック株式会社 制御装置、及び制御方法
CN111113429B (zh) * 2019-12-31 2021-06-25 深圳市优必选科技股份有限公司 一种动作模仿方法、动作模仿装置及终端设备
CN111086003A (zh) * 2020-01-08 2020-05-01 北京仙进机器人有限公司 机器人仿型控制方法及其装置
CN111098319A (zh) * 2020-01-19 2020-05-05 路邦科技授权有限公司 一种工业级机械臂多联控制系统
JP2021116491A (ja) 2020-01-27 2021-08-10 富士フイルムビジネスイノベーション株式会社 触覚提示装置
JP6875690B1 (ja) * 2020-02-12 2021-05-26 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
US12097617B2 (en) * 2020-02-28 2024-09-24 Ati Industrial Automation, Inc. Controlling contact force in a machine tool
JP2021133470A (ja) * 2020-02-28 2021-09-13 セイコーエプソン株式会社 ロボットの制御方法およびロボットシステム
CN111452038B (zh) * 2020-03-03 2021-08-24 重庆大学 一种高精度工件组件及高精度工件组件的装配方法
CN111421529B (zh) * 2020-03-11 2021-08-03 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) 一种绳驱柔性臂的控制方法
JP7483420B2 (ja) * 2020-03-12 2024-05-15 キヤノン株式会社 ロボットシステム、制御装置、情報処理装置、制御方法、情報処理方法、物品の製造方法、プログラム、および記録媒体
WO2021186254A1 (fr) * 2020-03-19 2021-09-23 Auris Health, Inc. Systèmes et procédés pour ajustements dynamiques basés sur des entrées de charge pour des systèmes robotisés
CN111438673B (zh) * 2020-03-24 2022-04-22 西安交通大学 基于立体视觉和手势控制的高空作业遥操作方法及系统
US11691282B2 (en) * 2020-03-26 2023-07-04 Mitsubishi Electric Corporation Friction compensation device, and robot control device
EP4134205A4 (fr) * 2020-04-10 2024-05-01 Kawasaki Jukogyo Kabushiki Kaisha Système de corps mobile médical et son procédé de conduite
CN111546329B (zh) * 2020-04-10 2022-03-04 驰驱电气(嘉兴)有限公司 一种多关节机器人伺服增益一致性控制方法
CN111452029B (zh) * 2020-04-14 2023-12-29 山东乐普韦尔自动化技术有限公司 一种带电作业机器人控制系统及带电作业机器人
US11945123B2 (en) * 2020-04-28 2024-04-02 Altec Industries, Inc. Head mounted display for remote operation of machinery
CN111469109A (zh) * 2020-04-28 2020-07-31 深圳供电局有限公司 巡检机器人系统
US11685043B2 (en) * 2020-05-09 2023-06-27 Ubtech Robotics Corp Ltd Mechanical arm
CN111409079B (zh) * 2020-05-19 2023-08-01 路邦科技授权有限公司 一种工业级机械臂的多联及互联控制系统
CN111633686B (zh) * 2020-05-19 2022-04-12 华为技术有限公司 机器人的安全防护方法、装置与机器人
GB2595289A (en) * 2020-05-21 2021-11-24 Bae Systems Plc Collaborative robot system
WO2021237351A1 (fr) * 2020-05-26 2021-12-02 Magna International Inc. Bâti à système de vision
DE102020114738A1 (de) 2020-06-03 2021-12-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren, System sowie Computerprogramm zum Betreiben eines oder mehrerer Roboter, eines Robotersystems und/oder eines Roboterschwarms
DE102020114737A1 (de) 2020-06-03 2021-12-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren, System sowie Computerprogramm zum Betreiben eines oder mehrerer Roboter, eines Robotersystems und/oder eines Roboterschwarms
CN111745645A (zh) * 2020-06-09 2020-10-09 北京理工大学 机器人控制方法、装置和系统
JP7132976B2 (ja) * 2020-06-10 2022-09-07 三菱ロジスネクスト株式会社 フォークリフト、フォークリフトの制御方法、及びプログラム
US20220183778A1 (en) * 2020-06-18 2022-06-16 Brainlab Ag Compensation of gravity-related displacements of medical carrier structures
CN111604910A (zh) * 2020-06-19 2020-09-01 天津工业大学 一种电力检修无人机用异物清除装置
WO2021256463A1 (fr) * 2020-06-19 2021-12-23 川崎重工業株式会社 Système d'imagerie et système de robot
WO2021261539A1 (fr) * 2020-06-25 2021-12-30 キヤノン株式会社 Système de commande et procédé de commande pour robot continuum et programme
US20220014476A1 (en) * 2020-07-09 2022-01-13 Gerald Brantner Facilitating human intervention in an autonomous device
CN111941423B (zh) * 2020-07-24 2021-08-24 武汉万迪智慧科技有限公司 一种人机交互机械抓手控制系统及方法
CN111781934A (zh) * 2020-07-29 2020-10-16 浙江树人学院（浙江树人大学） 一种主从分布式协同装置及其控制方法
CN112025679B (zh) * 2020-08-26 2021-09-24 大连理工大学 视触觉融合的五指机械手仿人抓取方法
KR102350638B1 (ko) * 2020-08-26 2022-01-17 주식회사 이엠에스 인공지능형 로봇 시스템
WO2022054292A1 (fr) 2020-09-14 2022-03-17 三菱電機株式会社 Dispositif de commande de robot
CN112428247B (zh) * 2020-09-28 2021-12-21 燕山大学 一种针对多主-多从遥操作系统的增强透明性能控制方法
JP2022061761A (ja) * 2020-10-07 2022-04-19 川崎重工業株式会社 ロボットシステム及びその制御方法
JP7365991B2 (ja) * 2020-10-26 2023-10-20 三菱電機株式会社 遠隔操作システム
US20220134557A1 (en) * 2020-10-30 2022-05-05 Sintokogio, Ltd. Control device, robot control system, program, and control method
CN112496696A (zh) * 2020-11-24 2021-03-16 福州大学 一种智能手机内部射频线自动组装视觉测量系统
CN112123341B (zh) * 2020-11-24 2021-03-02 季华实验室 机器人双臂协调运动控制方法、装置和电子设备
KR102378622B1 (ko) * 2020-11-28 2022-03-25 이비오 주식회사 직교 좌표를 이용한 교시장치 및 그 장치의 직접 교시 방법
JP7148938B2 (ja) * 2020-11-30 2022-10-06 株式会社 情報システムエンジニアリング 状態判定システム、状態判定方法、及び状態判定プログラム
JP2022092831A (ja) * 2020-12-11 2022-06-23 セイコーエプソン株式会社 ソフトウェアスイッチプログラム、選択肢の選択方法および情報処理装置
CN112847300A (zh) * 2020-12-19 2021-05-28 北京工业大学 一种基于移动工业机器人示教器的示教系统及其示教方法
CN112873218B (zh) * 2020-12-23 2022-11-25 中国计量大学 一种变电站巡检机器人及巡检方法
CN112847304A (zh) * 2020-12-31 2021-05-28 哈尔滨工业大学 一种有监督无接触的机械臂示教方法
US11794345B2 (en) * 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
CN112894820A (zh) * 2021-01-29 2021-06-04 清华大学深圳国际研究生院 柔性机械臂遥操作人机交互装置及系统
CN112894821B (zh) * 2021-01-30 2022-06-28 同济大学 基于电流法的协作机器人拖动示教控制方法、装置及设备
US20220269254A1 (en) * 2021-02-25 2022-08-25 Nanotronics Imaging, Inc. Imitation Learning in a Manufacturing Environment
JPWO2022186134A1 (fr) * 2021-03-04 2022-09-09
KR102392538B1 (ko) * 2021-03-17 2022-04-29 주식회사 나우로보틱스 다관절 로봇 및 협동로봇의 장점이 융합된 응용로봇
KR102387294B1 (ko) * 2021-03-17 2022-04-15 주식회사 나우로보틱스 컨트롤러 및 ui부를 탑재한 사출 성형기용 다관절 로봇
US11897706B2 (en) * 2021-03-30 2024-02-13 Dexterity, Inc. Robotic system with zone-based control
US11981517B2 (en) 2021-03-30 2024-05-14 Dexterity, Inc. Robotic line kitting system safety features
KR102277162B1 (ko) 2021-04-02 2021-07-14 주식회사 스누아이랩 산업 로봇 감시장치 및 그 장치의 구동방법
CN113084872B (zh) * 2021-04-08 2022-09-20 国核自仪系统工程有限公司 用于核电站的检查维护机器人
CN113878590B (zh) * 2021-04-22 2022-11-25 北京邮电大学 一种具备自动规划抽脂功能的机器人系统
KR102529082B1 (ko) * 2021-04-22 2023-05-03 재단법인대구경북과학기술원 촉각 감지 방법 및 장치
CN113276110B (zh) * 2021-04-22 2022-12-16 国网浙江省电力有限公司嘉兴供电公司 一种基于ar技术的变电站操作机器人控制系统及方法
JP2022187879A (ja) * 2021-06-08 2022-12-20 川崎重工業株式会社 手術支援システム、操作者側装置および手術支援システムの制御方法
US20220395940A1 (en) * 2021-06-09 2022-12-15 Honda Motor Co., Ltd. Apparatus and method to press articles on components of vehicle assembly
JP2023003592A (ja) * 2021-06-24 2023-01-17 セイコーエプソン株式会社 力制御パラメーターの調整方法および力制御パラメーター調整装置
EP4265377A4 (fr) 2021-06-28 2024-07-10 Samsung Electronics Co Ltd Robot et son procédé de commande
CN113370220A (zh) * 2021-07-13 2021-09-10 崔成武 一种机械手臂控制系统
JP2024525498A (ja) 2021-07-15 2024-07-12 シェフラー テクノロジーズ アー・ゲー ウント コー． カー・ゲー ハンドジェスチャコントロールおよび視覚慣性オドメトリを使用するロボットシステムのティーチング
CN113580131A (zh) * 2021-07-26 2021-11-02 成都飞机工业（集团）有限责任公司 一种基于动作映射的机械臂末端位姿控制装置及控制方法
KR102549111B1 (ko) * 2021-08-02 2023-06-29 주식회사 로엔서지컬 수술용 로봇의 제어 장치 및 제어 방법
KR102532351B1 (ko) * 2021-08-05 2023-05-15 서울대학교병원 헤드셋 기반의 비접촉 손동작 인식 기술을 활용한 수술 로봇 제어 시스템
CN113842209B (zh) * 2021-08-24 2024-02-09 深圳市德力凯医疗设备股份有限公司 超声设备控制方法、超声设备及计算机可读存储介质
US11422632B1 (en) 2021-08-27 2022-08-23 Andrew Flessas System and method for precise multi-dimensional movement of haptic stimulator
CN113715037A (zh) * 2021-09-01 2021-11-30 光华临港工程应用技术研发(上海)有限公司 一种可远程遥操作的智能化护士机器人系统
CN113681566A (zh) * 2021-09-10 2021-11-23 广东电网有限责任公司广州供电局 一种引流线作业机器人的控制方法及控制器
CN113696186B (zh) * 2021-10-09 2022-09-30 东南大学 复杂光照条件下基于视触融合的机械臂自主移动抓取方法
US20230120598A1 (en) * 2021-10-15 2023-04-20 Fanuc Corporation Robot program generation method from human demonstration
WO2023074336A1 (fr) * 2021-10-29 2023-05-04 慶應義塾 Système de compensation, dispositif de compensation, procédé de compensation et programme
TWI785875B (zh) * 2021-11-03 2022-12-01 任源企業股份有限公司 具感知回饋的測試系統
CN114227187B (zh) * 2021-11-30 2023-03-28 浪潮(山东)计算机科技有限公司 一种插接部件安装方法、系统及相关组件
CN114227689B (zh) * 2021-12-30 2023-11-17 深圳市优必选科技股份有限公司 机器人动作控制系统及其动作控制方法
WO2023135902A1 (fr) * 2022-01-14 2023-07-20 株式会社Ｎｔｔドコモ Dispositif de plate-forme d'augmentation humaine et procédé d'augmentation de capacité physique
CN114505662B (zh) * 2022-02-16 2023-04-11 广西腾智投资有限公司 一种自动安装设备
CA3191854A1 (fr) * 2022-03-04 2023-09-04 Sanctuary Cognitive Systems Corporation Robots, systemes de telecommande, programmes informatiques et methodes d'exploitation
WO2023170680A1 (fr) 2022-03-08 2023-09-14 Equashield Medical Ltd Station de transfert de fluide dans un système de préparation pharmaceutique robotique
JP7513292B2 (ja) 2022-03-16 2024-07-09 Ｎｅｃプラットフォームズ株式会社 制御システム、制御方法およびプログラム
CN114442490B (zh) * 2022-04-07 2022-06-24 杭州柳叶刀机器人有限公司 基于自适应力反馈的血管介入机器人系统主端控制方法
JP2023157744A (ja) * 2022-04-15 2023-10-26 川崎重工業株式会社 遠隔制御システム、ロボットの遠隔制御方法及び遠隔制御プログラム
CN114872017B (zh) * 2022-04-26 2024-05-14 中国科学院自动化研究所 双臂灵巧操作机器人系统
CN114777676B (zh) * 2022-05-11 2023-07-04 青岛盛瀚色谱技术有限公司 一种自适应太赫兹三维层析成像装置及方法
JP7463003B1 (ja) 2022-05-24 2024-04-08 リバーフィールド株式会社 アーム機構
CN114926905B (zh) * 2022-05-31 2023-12-26 江苏濠汉信息技术有限公司 基于带手套的手势识别的电缆附件工序判别方法和系统
CN115227390B (zh) * 2022-06-30 2023-03-28 中国科学院自动化研究所 机器人主操作手
US11697209B1 (en) 2022-07-28 2023-07-11 Altec Industries, Inc. Coordinate mapping for motion control
US11839962B1 (en) 2022-07-28 2023-12-12 Altec Industries, Inc. Rotary tool for remote power line operations
US11742108B1 (en) 2022-07-28 2023-08-29 Altec Industries, Inc. Operation and insulation techniques
US11717969B1 (en) 2022-07-28 2023-08-08 Altec Industries, Inc. Cooperative high-capacity and high-dexterity manipulators
US11660750B1 (en) * 2022-07-28 2023-05-30 Altec Industries, Inc. Autonomous and semi-autonomous control of aerial robotic systems
US11997429B2 (en) 2022-07-28 2024-05-28 Altec Industries, nc. Reducing latency in head-mounted display for the remote operation of machinery
US11749978B1 (en) 2022-07-28 2023-09-05 Altec Industries, Inc. Cross-arm phase-lifter
US11689008B1 (en) 2022-07-28 2023-06-27 Altec Industries, Inc. Wire tensioning system
US11794359B1 (en) 2022-07-28 2023-10-24 Altec Industries, Inc. Manual operation of a remote robot assembly
GB2621587A (en) * 2022-08-15 2024-02-21 Cmr Surgical Ltd Control of a surgical robot arm
CN115444565B (zh) * 2022-08-22 2024-01-30 北京长木谷医疗科技股份有限公司 手术机器人系统及其执行末端的反馈控制系统和方法
KR102682481B1 (ko) * 2022-08-30 2024-07-04 한국로봇융합연구원 진공 챔버 내 매니퓰레이터를 위한 원격 마스터 암 장치
EP4336318A1 (fr) 2022-09-08 2024-03-13 Hamilton Sundstrand Corporation Gant intelligent pour combinaison spatiale multimodale
CN115609255B (zh) * 2022-09-30 2024-06-04 陕西法士特齿轮有限责任公司 一种钢丝螺套安装异常处理系统及方法
CN115946109B (zh) * 2022-10-12 2024-09-03 北京航天飞行控制中心 空间机械臂运动过程监视方法及装置
CN115781635B (zh) * 2022-11-04 2024-08-06 北京镁伽机器人科技有限公司 机器人示教方法以及装置、电子设备以及存储介质
WO2024181994A1 (fr) * 2023-03-01 2024-09-06 Siemens Corporation Système robotique d'inspection visuelle de surface tactile
KR102595007B1 (ko) * 2023-03-24 2023-10-27 주식회사 아임토리 교착 지점의 딜레이 보상 기능을 갖는 로봇 공정 최적화 방법 및 장치
CN116713709B (zh) * 2023-05-29 2023-12-19 苏州索力伊智能科技有限公司 一种连接器自动组装设备控制系统及其方法
CN117017507B (zh) * 2023-10-09 2023-12-19 华中科技大学同济医学院附属协和医院 一种穿刺手术机器人的精密主从控制系统
CN117381776B (zh) * 2023-10-24 2024-06-21 深圳市磐锋精密技术有限公司 一种机器手关节自动校正控制系统
CN117481801B (zh) * 2023-10-26 2024-07-16 北京瞳沐医疗科技有限公司 基于图像的眼科机器人控制方法、系统、设备及介质

Family Cites Families (469)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6241704B1 (en) * 1901-11-22 2001-06-05 Sims Deltec, Inc. Drug pump systems and methods
US3893573A (en) * 1973-08-20 1975-07-08 Nasa Variable ratio mixed-mode bilateral master-slave control system for shuttle remote manipulator system
FR2275816A1 (fr) * 1974-06-19 1976-01-16 Commissariat Energie Atomique Dispositif de commande d'un organe mecanique avec retour d'effort
FR2416094A1 (fr) * 1978-02-01 1979-08-31 Zarudiansky Alain Dispositif de manipulation a distance
JPS5519178A (en) * 1978-07-29 1980-02-09 Matsushita Electric Works Ltd Hair curl instrument
JPS55140903A (en) * 1979-04-20 1980-11-04 Shin Meiwa Ind Co Ltd Position control method
JPS5639884A (en) * 1979-08-29 1981-04-15 Kobe Steel Ltd Method and device for correcting partial operation of cp control type industrial robot
JPS58132474A (ja) * 1982-02-03 1983-08-06 日本原子力発電株式会社 摩擦力補償装置
SE436848B (sv) * 1982-06-28 1985-01-28 Asea Ab Styrsystem for industrirobot
JPH0683971B2 (ja) * 1982-10-15 1994-10-26 株式会社日立製作所 バイラテラルサーボマニピユレータ制御方法
JPS59133507A (ja) * 1983-01-20 1984-07-31 Takashi Mori 人工光源装置
JPS59135507A (ja) * 1983-01-22 1984-08-03 Hitachi Constr Mach Co Ltd プレイバツク制御方式
SE8305378L (sv) 1983-09-30 1985-03-31 Asea Ab Industrirobot
JPS60191308A (ja) * 1984-03-13 1985-09-28 Mitsubishi Electric Corp 産業機械の制御装置
JPS60217781A (ja) 1984-04-13 1985-10-31 Toshiba Corp 遠隔マルチビデオ装置
JPS60170812U (ja) * 1984-04-16 1985-11-12 株式会社小松製作所 ステツプ試運転制御装置のプログラム表示装置
JPS6111801A (ja) * 1984-06-28 1986-01-20 Fanuc Ltd 操縦桿制御方式
JPS6161191U (fr) * 1984-09-25 1986-04-24
JPS6190209A (ja) * 1984-10-09 1986-05-08 Amada Co Ltd 可動体の教示操作時におけるｎｃデ−タ設定方法
JPS61293787A (ja) * 1985-06-20 1986-12-24 トキコ株式会社 工業用ロボツト
JPS6249403A (ja) * 1985-08-28 1987-03-04 Agency Of Ind Science & Technol マニピユレ−タ制御装置
JPH0685795B2 (ja) * 1985-10-14 1994-11-02 株式会社アマダ 看護介助ロボツト
JPS62106511A (ja) * 1985-11-05 1987-05-18 Mitsubishi Electric Corp 複数ロボツト教示装置
JPS62154009A (ja) * 1985-12-26 1987-07-09 Komatsu Ltd 操縦式マニピユレ−タ
JPH085018B2 (ja) * 1986-02-26 1996-01-24 株式会社日立製作所 遠隔マニピユレ−シヨン方法及び装置
JPS62213975A (ja) * 1986-03-14 1987-09-19 工業技術院長 マスタ・スレ−ブ指マニプレ−タのマスタ側操作器
JPS6374582A (ja) * 1986-09-19 1988-04-05 三菱電機株式会社 遠隔操作式マニピユレ−タ装置
JPS63106007A (ja) * 1986-10-22 1988-05-11 Nec Corp 数値制御装置の指令パルス発生装置
JPS63150184A (ja) * 1986-12-15 1988-06-22 株式会社日立製作所 ロボツトのテイ−チング装置
JPS63283878A (ja) * 1987-05-18 1988-11-21 株式会社東芝 半自動遠隔操作装置
JP2507449B2 (ja) * 1987-07-15 1996-06-12 株式会社日立製作所 冗長関節を有するマスタ・スレ―ブマニピュレ―タ及び該マニピュレ―タの制御方法
JPS6434686A (en) * 1987-07-29 1989-02-06 Kubota Ltd Master/slave manipulator
JPH01124002A (ja) * 1987-11-09 1989-05-16 Mitsubishi Electric Corp 数値制御装置
US4942538A (en) * 1988-01-05 1990-07-17 Spar Aerospace Limited Telerobotic tracker
JP2676793B2 (ja) * 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
US5116180A (en) 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
JPH0676929B2 (ja) * 1988-09-13 1994-09-28 工業技術院長 分布型圧覚センサ
JPH02160487A (ja) 1988-12-12 1990-06-20 Fanuc Ltd ロボット手動送り補正方式
JP2501508Y2 (ja) 1989-02-08 1996-06-19 株式会社明電舎 バイラテラルマスタ・スレ―ブマニプレ―タ
JPH03142179A (ja) * 1989-10-25 1991-06-17 Toshiba Corp マスタスレーブ制御装置
JPH03190688A (ja) * 1989-12-19 1991-08-20 Fanuc Ltd ロボット非常停止回路
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5072361A (en) * 1990-02-01 1991-12-10 Sarcos Group Force-reflective teleoperation control system
JP2824134B2 (ja) * 1990-08-13 1998-11-11 株式会社日立製作所 異構造マスタスレーブマニピュレータの制御装置
JP3217383B2 (ja) * 1991-02-01 2001-10-09 衛 光石 臨場感再現システムおよび加工システム
JPH04269185A (ja) * 1991-02-20 1992-09-25 Fujitsu Ltd ロボットの遠隔制御装置
JPH04275887A (ja) * 1991-02-28 1992-10-01 Toshiba Corp マスタスレーブマニピュレータ
JPH04300173A (ja) 1991-03-28 1992-10-23 Nachi Fujikoshi Corp マスタスレーブマニピュレータ
JPH04299714A (ja) * 1991-03-28 1992-10-22 Yanmar Diesel Engine Co Ltd バイラテラル操縦装置
JPH04310396A (ja) * 1991-04-09 1992-11-02 Hitachi Ltd ロボット制御装置
US5182641A (en) * 1991-06-17 1993-01-26 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Composite video and graphics display for camera viewing systems in robotics and teleoperation
JP3583777B2 (ja) 1992-01-21 2004-11-04 エス・アール・アイ・インターナシヨナル テレオペレータシステムとテレプレゼンス法
JP3200136B2 (ja) * 1992-03-03 2001-08-20 株式会社アマダ 溶接ロボットの溶接位置補正方法及び溶接位置補正装置
JP3137210B2 (ja) * 1992-05-08 2001-02-19 日本電信電話株式会社 双方向型マスタスレーブ運動制御方法
US5331413A (en) * 1992-09-28 1994-07-19 The United States Of America As Represented By The United States National Aeronautics And Space Administration Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations
JPH06110543A (ja) * 1992-09-30 1994-04-22 Nippon Telegr & Teleph Corp <Ntt> 直接教示装置
JP2819367B2 (ja) 1992-12-18 1998-10-30 日東工器株式会社 マニピュレータの安全操作システム
US5451924A (en) * 1993-01-14 1995-09-19 Massachusetts Institute Of Technology Apparatus for providing sensory substitution of force feedback
JPH06210581A (ja) * 1993-01-20 1994-08-02 Olympus Optical Co Ltd 操作装置
JPH06250730A (ja) * 1993-03-01 1994-09-09 Nissan Motor Co Ltd 産業用ロボットの教示装置
JPH06262545A (ja) 1993-03-08 1994-09-20 Meidensha Corp 産業用マニプレータの制御装置
JP3686686B2 (ja) * 1993-05-11 2005-08-24 松下電器産業株式会社 力覚呈示デバイス、データ入力装置、及びデータ入力デバイス装置
JPH06328380A (ja) * 1993-05-21 1994-11-29 Hitachi Ltd ロボットの教示装置および産業用ロボット、並びに操作装置
JPH06344279A (ja) * 1993-06-07 1994-12-20 Hitachi Ltd 遠隔作業装置及び方法
JPH0775993A (ja) * 1993-09-10 1995-03-20 Olympus Optical Co Ltd 操作状況報知装置
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
JP2567197B2 (ja) * 1993-10-29 1996-12-25 株式会社明電舎 マスタスレーブ形マニプレータ
JP3339953B2 (ja) 1993-12-29 2002-10-28 オリンパス光学工業株式会社 医療用マスタースレーブ式マニピュレータ
JPH07251394A (ja) * 1994-03-17 1995-10-03 Fujitsu Ltd ロボットの状況監視装置
JPH07266272A (ja) 1994-03-29 1995-10-17 Nippon Telegr & Teleph Corp <Ntt> マニピュレータ用追従方法及び装置
JP3255207B2 (ja) * 1994-04-01 2002-02-12 澁谷工業株式会社 容器整列装置
EP0687858B1 (fr) 1994-06-13 2000-10-25 Praxair Technology, Inc. Atomiseur à angle de vaporisation étroit pour combustible liquide
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
JP3129115B2 (ja) * 1994-09-14 2001-01-29 ブラザー工業株式会社 機械制御装置
JP2762943B2 (ja) 1995-01-24 1998-06-11 株式会社明電舎 多軸マスタ・スレーブ形サーボマニプレータのマスタアーム操作装置
US5652849A (en) * 1995-03-16 1997-07-29 Regents Of The University Of Michigan Apparatus and method for remote control using a visual information stream
GB2298931B (en) * 1995-03-17 1999-03-10 Marconi Gec Ltd Virtual force feedback for synthetic environment
JPH08257948A (ja) * 1995-03-20 1996-10-08 Yaskawa Electric Corp ロボットの遠隔操作装置
JPH08272520A (ja) * 1995-03-29 1996-10-18 Asako Hanno 手袋命令発信装置
JPH08267381A (ja) * 1995-03-30 1996-10-15 Nippon Steel Corp ロボット手動送り制御装置
JPH08286759A (ja) * 1995-04-14 1996-11-01 Fanuc Ltd 静摩擦を補償するロボット駆動制御方法
US7113166B1 (en) * 1995-06-09 2006-09-26 Immersion Corporation Force feedback devices using fluid braking
US5706195A (en) 1995-09-05 1998-01-06 General Electric Company Augmented reality maintenance system for multiple rovs
US5710870A (en) * 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
KR100449429B1 (ko) * 1995-09-14 2004-12-13 가부시키가이샤 야스가와덴끼 로봇의교시장치
JPH0976063A (ja) 1995-09-16 1997-03-25 Sanshiyuuzen Kogyo Kk 溶接装置
JP4014662B2 (ja) 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
JPH0991015A (ja) 1995-09-26 1997-04-04 Central Motor Co Ltd 同期作業ロボット
US5745387A (en) 1995-09-28 1998-04-28 General Electric Company Augmented reality maintenance system employing manipulator arm with archive and comparison device
AU1328597A (en) * 1995-11-30 1997-06-19 Virtual Technologies, Inc. Tactile feedback man-machine interface device
GB9525047D0 (en) * 1995-12-07 1996-02-07 Philips Electronics Nv Virtual body control device
US6142581A (en) * 1995-12-26 2000-11-07 Denso Corporation Hydraulic circuit having a rotary type pump and brake apparatus for a vehicle provided with the same
JPH09212219A (ja) * 1996-01-31 1997-08-15 Fuji Facom Corp 三次元仮想モデル作成装置及び制御対象物の監視制御装置
US5624398A (en) * 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
JP2776477B2 (ja) * 1996-02-13 1998-07-16 川崎重工業株式会社 ロボット３次元位置姿勢教示システム
JPH09272096A (ja) 1996-04-04 1997-10-21 Nissan Motor Co Ltd 生産設備の安全装置
JPH09273868A (ja) * 1996-04-05 1997-10-21 Nippon Steel Corp 溶融金属用樋の耐火物補修装置及び耐火物補修方法
JP2836577B2 (ja) * 1996-05-15 1998-12-14 日本電気株式会社 マニピュレータ操作装置
JPH09305209A (ja) * 1996-05-21 1997-11-28 Meidensha Corp ロボットの制御装置および制御方法
JPH1044074A (ja) * 1996-07-30 1998-02-17 Nippon Telegr & Teleph Corp <Ntt> マルチ作業方法及び装置
US5689619A (en) * 1996-08-09 1997-11-18 The United States Of America As Represented By The Secretary Of The Army Eyetracker control of heads-up displays
DE69736348T2 (de) * 1996-10-24 2006-11-30 Fanuc Ltd. Roboterkraftsteuersystem mit visuellem sensor für zusammenfügungsarbeiten
JP3300625B2 (ja) * 1997-01-27 2002-07-08 ファナック株式会社 ロボットの制御方式
JPH10249786A (ja) 1997-03-14 1998-09-22 Yaskawa Electric Corp マニピュレータの制御装置および操作支援装置
JPH10270535A (ja) * 1997-03-25 1998-10-09 Nikon Corp 移動ステージ装置、及び該ステージ装置を用いた回路デバイス製造方法
JPH1124873A (ja) * 1997-06-30 1999-01-29 Toshiba Corp 三次元形状情報入力装置
US6016385A (en) 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6190091B1 (en) * 1997-08-26 2001-02-20 Novellent Technologies Llc Tension control device for tensile elements
US6353764B1 (en) * 1997-11-27 2002-03-05 Matsushita Electric Industrial Co., Ltd. Control method
JPH11198067A (ja) 1998-01-08 1999-07-27 Honda Motor Co Ltd 双腕型マニピュレータ操縦装置
US6070109A (en) * 1998-03-10 2000-05-30 Fanuc Robotics North America, Inc. Robot calibration system
US6244644B1 (en) * 1999-01-25 2001-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Compact dexterous robotic hand
WO2000045229A1 (fr) * 1999-01-29 2000-08-03 Georgia Tech Research Corporation Servo-regulateur dynamique non etalonne pour systeme mecanique
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
JP3323912B2 (ja) * 1999-06-21 2002-09-09 独立行政法人 航空宇宙技術研究所 予測力による拘束軌道作業の制御方法及びそのシステム
JP2001084375A (ja) * 1999-09-13 2001-03-30 Atr Media Integration & Communications Res Lab 動作検証システムおよび非接触マニピュレーションシステム
EP1090722B1 (fr) * 1999-09-16 2007-07-25 Fanuc Ltd Système de commande pour l'opération coopérative synchrone d'une pluralité de robots
JP3538362B2 (ja) * 1999-09-16 2004-06-14 ファナック株式会社 複数ロボットの同期又は協調動作制御装置
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9510911B2 (en) * 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
JP2001087281A (ja) * 1999-09-20 2001-04-03 Olympus Optical Co Ltd 多機能マニピュレータ
JP4122652B2 (ja) 1999-09-27 2008-07-23 松下電器産業株式会社 ロボットの制御装置
JP4403474B2 (ja) * 1999-12-09 2010-01-27 ソニー株式会社 触覚提示機構及びこれを用いた力触覚提示装置
US6313595B2 (en) * 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
KR100357550B1 (ko) 1999-12-23 2002-10-19 현대자동차주식회사 컨베이어 속도 동기식 로봇 시스템 및 이를 이용한 차량시트 투입 방법
JP2001222309A (ja) * 2000-02-10 2001-08-17 Yaskawa Electric Corp ロボット制御装置
JP3948189B2 (ja) 2000-03-28 2007-07-25 松下電器産業株式会社 ロボットの教示装置
JP4281208B2 (ja) 2000-04-04 2009-06-17 ソニー株式会社 ロボット遠隔制御システム
EP1142675B1 (fr) * 2000-04-04 2005-08-24 Honda Giken Kogyo Kabushiki Kaisha Main de robot à plusieurs doigts
JP3726009B2 (ja) * 2000-05-19 2005-12-14 本田技研工業株式会社 脚式移動ロボットの床形状推定装置
US6645196B1 (en) * 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
JP3978640B2 (ja) * 2000-08-31 2007-09-19 富士フイルム株式会社 電子カメラ
JP3504222B2 (ja) * 2000-09-04 2004-03-08 ファナック株式会社 ロボット制御装置
ES2304430T3 (es) * 2001-01-29 2008-10-16 The Acrobot Company Limited Robots con limitacion activa.
JP3594016B2 (ja) 2001-01-30 2004-11-24 日本電気株式会社 ロボットのプログラム実行方法、ロボットシステムおよびプログラム処理装置
US6804396B2 (en) * 2001-03-28 2004-10-12 Honda Giken Kogyo Kabushiki Kaisha Gesture recognition system
SE0101199D0 (sv) * 2001-04-02 2001-04-02 Abb Ab An industrial robot
SE0101200D0 (sv) * 2001-04-02 2001-04-02 Abb Ab An industrial robot
JP4524729B2 (ja) * 2001-07-25 2010-08-18 株式会社安川電機 遠隔操縦ロボットの制御装置
JP2003062776A (ja) * 2001-08-22 2003-03-05 Taito Corp コミュニケーション小形ロボットシステム
JP2003080482A (ja) * 2001-09-07 2003-03-18 Yaskawa Electric Corp ロボット教示装置
JP2003170375A (ja) * 2001-11-30 2003-06-17 Tmsuk Co Ltd ロボット遠隔制御システム
KR100454714B1 (ko) * 2002-02-16 2004-11-05 한국과학기술연구원 작업용 로봇, 작업용 로봇을 위한 액츄에이터 및 작업용 로봇의 제어방법
US7209859B2 (en) * 2002-03-02 2007-04-24 Linxberg Technology, Llc Method and apparatus for sequentially collecting and analyzing real time data with interactive monitoring
US7206626B2 (en) 2002-03-06 2007-04-17 Z-Kat, Inc. System and method for haptic sculpting of physical objects
JP3924495B2 (ja) 2002-04-24 2007-06-06 株式会社日立製作所 遠隔操作制御装置
US6898484B2 (en) * 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
JP2003334781A (ja) * 2002-05-13 2003-11-25 Canon Inc ロボット動作制御方法
JP2004001122A (ja) * 2002-05-31 2004-01-08 Suzuki Motor Corp ピッキング装置
CN100372660C (zh) * 2002-06-24 2008-03-05 松下电器产业株式会社 多关节驱动机构及其制造方法、使用该机构的把持手和机器人
KR100961036B1 (ko) * 2002-07-11 2010-06-01 파나소닉 주식회사 화상 복호화 방법 및 화상 복호화 장치
JP3910130B2 (ja) * 2002-09-30 2007-04-25 ファナック株式会社 ロボットシステム
JP3990262B2 (ja) 2002-12-02 2007-10-10 ファナック株式会社 産業用ロボット
JP4127043B2 (ja) * 2002-12-11 2008-07-30 ソニー株式会社 脚式移動ロボット並びに脚式移動ロボットの関節軸として適用されるアクチュエータ装置
WO2004052598A1 (fr) * 2002-12-12 2004-06-24 Matsushita Electric Industrial Co., Ltd. Dispositif de commande de robot
DE10305384A1 (de) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
JP3805317B2 (ja) * 2003-03-17 2006-08-02 ファナック株式会社 教示位置修正方法及び教示位置修正装置
JP2004291223A (ja) * 2003-03-26 2004-10-21 Toyo High Mech Kk 可搬式コミュニケーションロボット
DE10314025B4 (de) 2003-03-28 2010-04-01 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Steuern einer Mehrzahl von Handhabungsgeräten
US7295893B2 (en) * 2003-03-31 2007-11-13 Kabushiki Kaisha Toshiba Manipulator and its control apparatus and method
JP3752494B2 (ja) * 2003-03-31 2006-03-08 株式会社東芝 マスタスレーブマニピュレータ、その制御装置及び制御方法
JP3975959B2 (ja) * 2003-04-23 2007-09-12 トヨタ自動車株式会社 ロボット動作規制方法とその装置およびそれを備えたロボット
WO2004096502A1 (fr) * 2003-04-28 2004-11-11 Stephen James Crampton Bras de machine de mesure de coordonnees a exosquelette
JP2004330370A (ja) * 2003-05-08 2004-11-25 Nitta Ind Corp ロボットハンド用触覚センサ
JP4134812B2 (ja) * 2003-05-20 2008-08-20 株式会社安川電機 ロボット制御装置
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7672741B2 (en) * 2003-07-24 2010-03-02 Keio University Position/force control device
US7102315B2 (en) * 2003-07-29 2006-09-05 Matsushita Electric Industrial Co., Ltd. Robot arm control method and control device
JP2005118953A (ja) 2003-10-17 2005-05-12 Nippon Telegr & Teleph Corp <Ntt> 管内検査装置
JP2005138245A (ja) 2003-11-07 2005-06-02 Yaskawa Electric Corp 人間介入型ロボットの制御装置
JP3733364B2 (ja) * 2003-11-18 2006-01-11 ファナック株式会社 教示位置修正方法
US7181314B2 (en) * 2003-11-24 2007-02-20 Abb Research Ltd. Industrial robot with controlled flexibility and simulated force for automated assembly
EP1701825A4 (fr) * 2003-12-30 2007-04-18 Strider Labs Inc Main robotique a paume extensible
FR2866826B1 (fr) * 2004-02-26 2006-08-04 Commissariat Energie Atomique Bras de telemanipulation en deux parties
US8160205B2 (en) * 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
CN1696872A (zh) * 2004-05-13 2005-11-16 中国科学院自动化研究所 一种触觉反馈数据手套
US7949616B2 (en) 2004-06-01 2011-05-24 George Samuel Levy Telepresence by human-assisted remote controlled devices and robots
JP4461994B2 (ja) * 2004-10-05 2010-05-12 株式会社安川電機 マスタスレーブマニピュレータの制御装置
JP2006113858A (ja) * 2004-10-15 2006-04-27 Mitsubishi Heavy Ind Ltd 移動体の遠隔操作支援方法及びシステム
JP4556617B2 (ja) * 2004-10-29 2010-10-06 株式会社デンソーウェーブ 自動作業システム
SE0402696D0 (sv) * 2004-11-04 2004-11-04 Abb Ab Industrial robot system
DE102004057814B4 (de) * 2004-11-30 2014-02-06 Daimler Ag Verfahren zum Steuern der Stellung von Werkstück und Werkzeug mit einem Roboter in einer Bearbeitungsmaschine
JP2006191460A (ja) * 2005-01-07 2006-07-20 Ricoh Co Ltd 環境情報取得再生システム、テレビ会議システム、乗り物、衣類及び遠隔操作システム
JP4261500B2 (ja) * 2005-03-04 2009-04-30 ファナック株式会社 制御システム
JP2006293445A (ja) * 2005-04-06 2006-10-26 Honda Motor Co Ltd 生産管理システム
JP2006289531A (ja) * 2005-04-07 2006-10-26 Seiko Epson Corp ロボット位置教示のための移動制御装置、ロボットの位置教示装置、ロボット位置教示のための移動制御方法、ロボットの位置教示方法及びロボット位置教示のための移動制御プログラム
US7860609B2 (en) * 2005-05-06 2010-12-28 Fanuc Robotics America, Inc. Robot multi-arm control system
US9789608B2 (en) * 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP4737668B2 (ja) * 2005-05-30 2011-08-03 コニカミノルタセンシング株式会社 ３次元計測方法および３次元計測システム
EP1728601A1 (fr) 2005-06-03 2006-12-06 Abb Ab Système robotique industriel comprenant une unité de programmation portable et des moyens pour détecter si cette unité quitte la cellule robotique
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
JP4277825B2 (ja) * 2005-06-17 2009-06-10 株式会社デンソーウェーブ ロボットの教示システム
EP2110754B1 (fr) * 2005-06-23 2019-02-13 Hilscher Gesellschaft Für Systemautomation MBH Procédés et dispositif de synchronisation de participants à un bus d'un système d'automatisation
US20070005002A1 (en) * 2005-06-30 2007-01-04 Intuitive Surgical Inc. Robotic surgical instruments for irrigation, aspiration, and blowing
JP4864363B2 (ja) * 2005-07-07 2012-02-01 東芝機械株式会社 ハンドリング装置、作業装置及びプログラム
WO2007010795A1 (fr) * 2005-07-19 2007-01-25 Omron Corporation Système de gestion de la sécurité du personnel
JP4247213B2 (ja) * 2005-07-20 2009-04-02 ファナック株式会社 複数のロボット制御装置を備えるロボットシステム及びロボット制御装置
JP2007030087A (ja) 2005-07-26 2007-02-08 Fanuc Ltd 物流トラッキング装置
JP4548784B2 (ja) * 2005-08-29 2010-09-22 株式会社不二越 ロボット制御装置、ロボットシステム及びプログラム
EP1927038A2 (fr) * 2005-09-23 2008-06-04 Braintech Canada, Inc. Systeme et procede de suivi visuel
US20070075048A1 (en) * 2005-09-30 2007-04-05 Nachi-Fujikoshi Corp. Welding teaching point correction system and calibration method
KR100765648B1 (ko) * 2005-10-06 2007-10-10 현대자동차주식회사 동기주행기능을 갖춘 도어 장착 시스템
TW200715142A (en) 2005-10-13 2007-04-16 Univ Nat Tsing Hua Method of command syntax and operation of main syntax production digital operation defined by use of the operation of time measure investigation
JP4137932B2 (ja) * 2005-10-28 2008-08-20 ファナック株式会社 ロボット制御装置
US7819859B2 (en) * 2005-12-20 2010-10-26 Intuitive Surgical Operations, Inc. Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
US7453227B2 (en) * 2005-12-20 2008-11-18 Intuitive Surgical, Inc. Medical robotic system with sliding mode control
US8219178B2 (en) * 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
JP4153528B2 (ja) * 2006-03-10 2008-09-24 ファナック株式会社 ロボットシミュレーションのための装置、プログラム、記録媒体及び方法
US20100168919A1 (en) * 2006-03-24 2010-07-01 Matsushita Electric Industrial Co, Ltd. Control method and control system for manipulator
JP2007280054A (ja) * 2006-04-06 2007-10-25 Sony Corp 学習装置および学習方法、並びにプログラム
JP2007285784A (ja) 2006-04-14 2007-11-01 Kobe Univ 圧力分布情報検出装置及び圧力分布情報検出方法
US8108092B2 (en) * 2006-07-14 2012-01-31 Irobot Corporation Autonomous behaviors for a remote vehicle
JP4877937B2 (ja) * 2006-05-25 2012-02-15 国立大学法人岐阜大学 触覚インターフェイス
JP4221014B2 (ja) * 2006-06-20 2009-02-12 ファナック株式会社 ロボット制御装置
US8965578B2 (en) * 2006-07-05 2015-02-24 Battelle Energy Alliance, Llc Real time explosive hazard information sensing, processing, and communication for autonomous operation
KR100772915B1 (ko) * 2006-07-05 2007-11-05 삼성전자주식회사 이동 로봇에 장착된 자이로의 바이어스를 보정하는 장치 및방법
JP4821516B2 (ja) * 2006-08-31 2011-11-24 旭光電機株式会社 多関節構造体
WO2008032661A1 (fr) * 2006-09-12 2008-03-20 National Institute Of Advanced Industrial Science And Technology Procédé de mesure de valeur de distribution et système de mesure utilisant un capteur de valeur de distribution pour celui-ci
US8588904B2 (en) * 2006-10-13 2013-11-19 Lifescience Solutions Llc Pacemaker
EP1915963A1 (fr) * 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Estimation de la force pour un systeme d'intervention chirurgicale robotisée à effraction minimale
JP4890199B2 (ja) * 2006-11-09 2012-03-07 本田技研工業株式会社 ロボットハンドおよびロボット
CN101211495B (zh) * 2006-12-31 2010-12-01 财团法人工业技术研究院 分布式保全系统
FR2912274B1 (fr) * 2007-02-02 2009-10-16 Binocle Sarl Procede de commande a partir d'un signal oculaire volontaire, notamment pour une prise de vues
JP2008188722A (ja) * 2007-02-06 2008-08-21 Fanuc Ltd ロボット制御装置
JP4973926B2 (ja) * 2007-02-13 2012-07-11 株式会社安川電機 自動機械システムおよびその制御方法
JP2008194789A (ja) * 2007-02-14 2008-08-28 Shin Meiwa Ind Co Ltd 力覚提示装置、および、それを備えたパワーアシストアームおよびパワーアシスト装置
US7922693B2 (en) * 2007-03-19 2011-04-12 Hansen Medical, Inc. Apparatus systems and methods for flushing gas from a catheter of a robotic catheter system
DE602007007576D1 (de) * 2007-03-30 2010-08-19 Abb Research Ltd Verfahren zum Betrieb ferngesteuerter Kameras in einem industriellen Verfahren
DE102007016662C5 (de) * 2007-04-04 2022-09-15 Kuka Deutschland Gmbh Omnidirektionales Fahrzeug und mobiler Industrieroboter
US20080275349A1 (en) * 2007-05-02 2008-11-06 Earlysense Ltd. Monitoring, predicting and treating clinical episodes
WO2009023334A2 (fr) * 2007-05-18 2009-02-19 University Of Southern California Capteur tactile biomimétique pour un contrôle de prise
JP2008296310A (ja) 2007-05-30 2008-12-11 Fanuc Ltd 加工ロボットの制御装置
JP2008296330A (ja) * 2007-05-31 2008-12-11 Fanuc Ltd ロボットシミュレーション装置
US9469034B2 (en) * 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9089256B2 (en) * 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP4368392B2 (ja) * 2007-06-13 2009-11-18 東海ゴム工業株式会社 変形センサシステム
JP4271249B2 (ja) * 2007-06-14 2009-06-03 ファナック株式会社 嵌合装置
TW200919210A (en) 2007-07-18 2009-05-01 Steven Kays Adaptive electronic design
JP5003336B2 (ja) * 2007-07-31 2012-08-15 ソニー株式会社 検出装置、ロボット装置、および入力装置
JP2009034743A (ja) * 2007-07-31 2009-02-19 Sony Corp 検出装置および方法、並びにプログラム
JP2009050958A (ja) * 2007-08-27 2009-03-12 Fanuc Ltd 停止監視機能を備えたロボット制御装置
ES2661490T3 (es) * 2007-09-13 2018-04-02 Toby D. Henderson Sistema de posicionador de pacientes
JP5109573B2 (ja) * 2007-10-19 2012-12-26 ソニー株式会社 制御システム及び制御方法、並びにロボット装置
JP2009125881A (ja) * 2007-11-26 2009-06-11 Toyota Motor Corp ロボットハンド
JP5190761B2 (ja) 2008-01-10 2013-04-24 株式会社Ｉｈｉ 移動ロボットの監視装置および監視方法
US8740840B2 (en) * 2008-01-16 2014-06-03 Catheter Robotics Inc. Remotely controlled catheter insertion system
JP2009196040A (ja) * 2008-02-21 2009-09-03 Panasonic Corp ロボットシステム
US8321075B2 (en) 2008-02-25 2012-11-27 Sri International Mitigating effects of biodynamic feedthrough on an electronic control device
JP4443615B2 (ja) * 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
JP4531126B2 (ja) * 2008-02-28 2010-08-25 パナソニック株式会社 ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、及びロボットアーム制御用集積電子回路
EP2271465A1 (fr) * 2008-03-31 2011-01-12 Abb Research Assemblage de pièces par robot sur une pièce à travailler se déplaçant sur une chaîne d'assemblage
JP2009262279A (ja) 2008-04-25 2009-11-12 Nec Corp ロボット、ロボットプログラム共有システム、ロボットプログラム共有方法およびプログラム
JP2009282720A (ja) 2008-05-21 2009-12-03 Nagaoka Univ Of Technology 操作方法および操作装置
JP2009285753A (ja) * 2008-05-28 2009-12-10 Shibuya Kogyo Co Ltd ロボット制御システム
KR101000780B1 (ko) * 2008-06-03 2010-12-15 재단법인서울대학교산학협력재단 암호 신호 복호화 장치, 이를 포함하는 ｒｆｉｄ 시스템, 및 이의 동작 방법
GB2471819B (en) * 2008-06-05 2012-11-28 Toshiba Machine Co Ltd Handling system,control device,control method,and program
EP2144127B1 (fr) * 2008-07-08 2014-04-30 Siemens Aktiengesellschaft Procédé et appareil de commande pour la synchronisation d'un récepteur d'un appareil de manipulation
US20100017033A1 (en) * 2008-07-18 2010-01-21 Remus Boca Robotic systems with user operable robot control terminals
CN101637908B (zh) * 2008-07-29 2010-11-03 上海发那科机器人有限公司 一种用于机器人搬运作业的视觉定位方法
EP2342031B1 (fr) * 2008-10-29 2020-04-08 SMS group GmbH Système interactif de robot
US8428781B2 (en) * 2008-11-17 2013-04-23 Energid Technologies, Inc. Systems and methods of coordination control for robot manipulation
JP5175691B2 (ja) * 2008-11-20 2013-04-03 トヨタ自動車株式会社 ロボットアームの教示システム及び方法
JP5281377B2 (ja) * 2008-12-04 2013-09-04 トヨタ自動車株式会社 ロボット装置
JP4586092B2 (ja) * 2008-12-04 2010-11-24 ファナック株式会社 複数のロボット機構部を備えたロボットシステム
US8335590B2 (en) * 2008-12-23 2012-12-18 Intuitive Surgical Operations, Inc. System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device
CN102056715B (zh) * 2009-01-09 2012-12-26 松下电器产业株式会社 机器人手臂的控制装置及控制方法、机器人、机器人手臂的控制程序及集成电子电路
KR101590331B1 (ko) 2009-01-20 2016-02-01 삼성전자 주식회사 이동 가능한 디스플레이 장치와 이를 구비한 로봇 및 그 디스플레이 방법
JP4648486B2 (ja) * 2009-01-26 2011-03-09 ファナック株式会社 人間とロボットとの協調動作領域を有する生産システム
JP5051298B2 (ja) * 2009-02-09 2012-10-17 パナソニック株式会社 ロボットシステムおよびロボットシステムのソフトウェア更新方法
KR101255948B1 (ko) * 2009-02-12 2013-04-23 고쿠리츠 다이가쿠 호진 교토 다이가쿠 산업용 로봇 시스템
JP2010188458A (ja) * 2009-02-17 2010-09-02 Yaskawa Electric Corp ロボット制御システム
EP2314406A4 (fr) * 2009-02-25 2015-04-22 Panasonic Ip Man Co Ltd Procédé de soudage et système de soudage
JP5571902B2 (ja) * 2009-03-17 2014-08-13 川崎重工業株式会社 ロボット、及びオートゼロイング方法
CN105342705A (zh) * 2009-03-24 2016-02-24 伊顿株式会社 利用增强现实技术的手术机器人系统及其控制方法
JP5375297B2 (ja) * 2009-04-16 2013-12-25 株式会社安川電機 ロボットシステム
US8574178B2 (en) * 2009-05-26 2013-11-05 The Hong Kong Polytechnic University Wearable power assistive device for helping a user to move their hand
JP5308249B2 (ja) * 2009-06-22 2013-10-09 三菱重工業株式会社 サーボ制御装置
JP4653844B2 (ja) * 2009-07-08 2011-03-16 ファナック株式会社 ロボットシステムのための画像処理装置及びこれを備えるロボットシステム
US8483880B2 (en) * 2009-07-22 2013-07-09 The Shadow Robot Company Limited Robotic hand
US8918211B2 (en) * 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9492927B2 (en) * 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8473101B2 (en) * 2009-08-21 2013-06-25 Harris Corporation Coordinated action robotic system and related methods
JP2011048621A (ja) * 2009-08-27 2011-03-10 Honda Motor Co Ltd ロボットのオフライン教示方法
US8483861B2 (en) * 2009-08-31 2013-07-09 Applied Materials, Inc. Scheduling modeling system for adaptive, automated data collection and performance analysis of manufacturing system for optimal scheduling
EP2481531A2 (fr) * 2009-09-28 2012-08-01 Panasonic Corporation Dispositif de commande et procédé de commande pour bras de robot, robot, programme de commande pour bras de robot et circuit électronique intégré pour la commande d'un bras de robot
JP2011073128A (ja) * 2009-09-30 2011-04-14 Almedio Inc ロボットシステム
JP5467508B2 (ja) 2009-10-30 2014-04-09 株式会社Ｉｈｉ ハンドガイド装置とその制御方法
JP5467510B2 (ja) * 2009-10-30 2014-04-09 株式会社Ｉｈｉ 外部操作ハンドガイド装置とその制御方法
US8682489B2 (en) * 2009-11-13 2014-03-25 Intuitive Sugical Operations, Inc. Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
BR112012011422B1 (pt) * 2009-11-13 2020-09-29 Intuitive Surgical Operations, Inc Sistema cirúrgico minimamente invasivo
US8996173B2 (en) * 2010-09-21 2015-03-31 Intuitive Surgical Operations, Inc. Method and apparatus for hand gesture control in a minimally invasive surgical system
KR20110055062A (ko) * 2009-11-19 2011-05-25 삼성전자주식회사 로봇 시스템 및 그 제어 방법
JP2011110620A (ja) * 2009-11-24 2011-06-09 Toyota Industries Corp ロボットの動作を制御する方法およびロボットシステム
JP4927927B2 (ja) * 2009-11-26 2012-05-09 ファナック株式会社 スポット溶接システム
KR100968944B1 (ko) * 2009-12-14 2010-07-14 (주) 아이알로봇 로봇 동기화 장치 및 그 방법
CN102448681B (zh) 2009-12-28 2014-09-10 松下电器产业株式会社 动作空间提示装置、动作空间提示方法以及程序
JP2011140077A (ja) * 2010-01-06 2011-07-21 Honda Motor Co Ltd 加工システム及び加工方法
CN101777250B (zh) * 2010-01-25 2012-01-25 中国科学技术大学 家用电器的通用遥控装置及方法
JP5530204B2 (ja) 2010-01-29 2014-06-25 Ｄｍｇ森精機株式会社 加工状況監視装置
JP5360237B2 (ja) * 2010-02-03 2013-12-04 パナソニック株式会社 ロボットシステムの制御方法
US9107684B2 (en) * 2010-03-05 2015-08-18 Covidien Lp System and method for transferring power to intrabody instruments
JP5577770B2 (ja) * 2010-03-15 2014-08-27 日本電気株式会社 座標補正方法
JP5447048B2 (ja) * 2010-03-18 2014-03-19 株式会社デンソーウェーブ ロボットの制御装置及びロボットの位置修正制御方法
WO2011116332A2 (fr) * 2010-03-18 2011-09-22 SPI Surgical, Inc. Cabine chirurgicale comprenant des interfaces multimodales et multicapteurs pour chirurgie robotisée, et procédés apparentés
JP5545534B2 (ja) * 2010-04-19 2014-07-09 株式会社安川電機 ロボットの教示再生装置、教示再生方法、及び教示データ作成方法
US20130079905A1 (en) * 2010-06-03 2013-03-28 Hitachi, Ltd. Human-Operated Working Machine System
US8740882B2 (en) * 2010-07-30 2014-06-03 Lg Electronics Inc. Medical robotic system and method of controlling the same
US20120041599A1 (en) * 2010-08-11 2012-02-16 Townsend William T Teleoperator system with master controller device and multiple remote slave devices
JP4938118B2 (ja) * 2010-08-17 2012-05-23 ファナック株式会社 人間協調ロボットシステム
CN102686366B (zh) * 2010-08-31 2015-02-25 松下电器产业株式会社 主从机器人的控制装置及主从机器人的控制装置的控制方法
US8764448B2 (en) * 2010-09-01 2014-07-01 Agency For Science, Technology And Research Robotic device for use in image-guided robot assisted surgical training
JP5612971B2 (ja) * 2010-09-07 2014-10-22 オリンパス株式会社 マスタスレーブマニピュレータ
JP5670147B2 (ja) * 2010-10-15 2015-02-18 株式会社ダイヘン アーク溶接ロボット制御装置
EP2637594A4 (fr) * 2010-11-11 2015-05-06 Univ Johns Hopkins Systèmes robotiques collaboratifs homme-machine
KR101390383B1 (ko) * 2010-11-16 2014-04-29 한국전자통신연구원 가상현실 기반 훈련 시뮬레이터를 위한 가변형 플랫폼 관리 장치
KR20120053098A (ko) * 2010-11-17 2012-05-25 포항대학 산학협력단 로봇 제어 시스템
CN103237633B (zh) * 2010-11-30 2015-07-22 奥林巴斯株式会社 主操作输入装置以及主-从机械手
WO2012088471A1 (fr) * 2010-12-22 2012-06-28 Veebot, Llc Systèmes et procédés d'introduction autonome d'une aiguille intraveineuse
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US8918215B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
JP5669590B2 (ja) * 2011-01-20 2015-02-12 オリンパス株式会社 マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ
CN102169348B (zh) 2011-01-22 2012-07-04 浙江大学 用视线控制服务机器人的方法
JP5165160B2 (ja) * 2011-01-27 2013-03-21 パナソニック株式会社 ロボットアームの制御装置及び制御方法、ロボット、ロボットアーム制御プログラム、並びに、集積電子回路
EP2668008A4 (fr) * 2011-01-28 2018-01-24 Intouch Technologies, Inc. Interfaçage avec un robot de téléprésence mobile
JP5316563B2 (ja) * 2011-02-15 2013-10-16 オムロン株式会社 画像処理装置および画像処理システム
DE102012102294B4 (de) * 2011-03-18 2015-03-19 Denso Wave Inc. Verfahren zum Erfassen eines Achsenabstand-Versatzes eines 6-Achs-Roboters
EP2688720B1 (fr) * 2011-03-21 2021-10-13 SRI International Système manipulateur robotique mobile
JP5796982B2 (ja) * 2011-03-31 2015-10-21 オリンパス株式会社 手術用システムの制御装置及び制御方法
JP2012232370A (ja) 2011-04-28 2012-11-29 Seiko Epson Corp ロボットコントローラー、簡易設置型ロボット、及び簡易設置型ロボットの制御方法
US20170028557A1 (en) * 2015-07-28 2017-02-02 Comprehensive Engineering Solutions, Inc. Robotic navigation system and method
US9789603B2 (en) * 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US8942846B2 (en) * 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US8718822B1 (en) 2011-05-06 2014-05-06 Ryan Hickman Overlaying sensor data in a user interface
US8886359B2 (en) * 2011-05-17 2014-11-11 Fanuc Corporation Robot and spot welding robot with learning control function
US8639386B2 (en) * 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US8414349B2 (en) * 2011-06-01 2013-04-09 Nintendo Co., Ltd. Remotely controlled mobile device control system
US9566710B2 (en) * 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
US9104271B1 (en) * 2011-06-03 2015-08-11 Richard Adams Gloved human-machine interface
JP5472214B2 (ja) * 2011-06-20 2014-04-16 株式会社安川電機 ピッキングシステム
JP5787642B2 (ja) * 2011-06-28 2015-09-30 キヤノン株式会社 対象物保持装置、対象物保持装置の制御方法、およびプログラム
JP5800610B2 (ja) 2011-07-07 2015-10-28 オリンパス株式会社 医療用マスタスレーブマニピュレータ
EP2729084A4 (fr) 2011-07-07 2015-03-04 Olympus Corp Manipulateur maître-esclave médical
JP5800616B2 (ja) * 2011-07-15 2015-10-28 オリンパス株式会社 マニピュレータシステム
EP2740434A4 (fr) * 2011-08-04 2015-03-18 Olympus Corp Manipulateur médical et procédé de commande associé
JP5936914B2 (ja) * 2011-08-04 2016-06-22 オリンパス株式会社 操作入力装置およびこれを備えるマニピュレータシステム
JP5583282B2 (ja) * 2011-08-24 2014-09-03 パナソニック株式会社 ロボットアームの制御装置及び制御方法、ロボット、ロボットアームの制御プログラム、並びに、集積電子回路
WO2013035244A1 (fr) * 2011-09-06 2013-03-14 パナソニック株式会社 Dispositif de commande et procédé de commande de bras robotique, robot, programme de commande et circuit électronique intégré
JP5807990B2 (ja) * 2011-09-22 2015-11-10 アイトーン、インコーポレイテッド 自律移動ロボット用の監視、診断及び追跡ツール
JP2013071231A (ja) 2011-09-29 2013-04-22 Panasonic Corp ロボットアームの教示装置、ロボット装置、教示方法、ロボットアームの制御装置、ロボットアームの制御プログラム、並びに、集積電子回路
JP2013091114A (ja) * 2011-10-05 2013-05-16 Kyokko Denki Kk インタラクション操作システム
US8996244B2 (en) * 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
US8930009B2 (en) * 2011-10-20 2015-01-06 Kabushiki Kaisha Yaskawa Denki Robot system and processed object manufacturing method
US9586323B2 (en) * 2012-02-15 2017-03-07 Intuitive Surgical Operations, Inc. User selection of robotic system operating modes using mode distinguishing operator actions
KR101978740B1 (ko) * 2012-02-15 2019-05-15 삼성전자주식회사 원격조종시스템 및 그 제어방법
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
WO2013134610A1 (fr) * 2012-03-08 2013-09-12 Quality Manufacturing Inc. Préhenseur robotique tactile
JP5977544B2 (ja) * 2012-03-09 2016-08-24 キヤノン株式会社 情報処理装置、情報処理方法
US8843236B2 (en) * 2012-03-15 2014-09-23 GM Global Technology Operations LLC Method and system for training a robot using human-assisted task demonstration
JP6025386B2 (ja) * 2012-05-02 2016-11-16 キヤノン株式会社 画像計測装置、画像計測方法及び画像計測プログラム
CN102707637B (zh) * 2012-05-09 2014-10-29 固高科技(深圳)有限公司 机器人手持示教器
JP5426722B2 (ja) * 2012-05-24 2014-02-26 ファナック株式会社 ロボットプログラム変更装置
JP5962246B2 (ja) * 2012-06-20 2016-08-03 富士電機株式会社 負荷対象物のリモートハンドリング装置およびその補助装置
JP5774223B2 (ja) * 2012-06-29 2015-09-09 三菱電機株式会社 ロボット制御装置およびロボット制御方法
CN102729254A (zh) * 2012-07-04 2012-10-17 杭州电子科技大学 基于触觉临场感的遥操作机器人肌电控制方法
JP6128767B2 (ja) * 2012-07-05 2017-05-17 キヤノン株式会社 ロボット制御装置、及びロボット制御方法
CN104717936B (zh) * 2012-08-15 2018-01-26 直观外科手术操作公司 使用者启动的手术安装平台的断开式离合
CN102785246B (zh) * 2012-08-24 2015-01-21 电子科技大学 一种可实现自动轨迹修正的机器人标定方法
US10081109B2 (en) * 2012-09-06 2018-09-25 Fanuc America Corporation Haptic teach pendant
JP2014065100A (ja) 2012-09-25 2014-04-17 Denso Wave Inc ロボットシステム、及びロボットのティーチング方法
KR102023910B1 (ko) * 2012-11-23 2019-09-23 삼성전자주식회사 로봇 및 로봇의 마찰 보상 방법
JP6221224B2 (ja) * 2012-11-27 2017-11-01 セイコーエプソン株式会社 ロボットシステム、プログラム、生産システム及びロボット
WO2014089316A1 (fr) * 2012-12-06 2014-06-12 International Electronic Machines Corporation Augmentation humaine de travail robotique
CN104936748B (zh) * 2012-12-14 2017-10-27 Abb技术有限公司 徒手机器人路径教导
KR101419139B1 (ko) * 2012-12-28 2014-07-14 김범기 압력 분포 측정 센서를 포함한 기판 처리 장치
US10292887B2 (en) * 2012-12-31 2019-05-21 Mako Surgical Corp. Motorized joint positioner
JP6112300B2 (ja) * 2013-01-10 2017-04-12 パナソニックＩｐマネジメント株式会社 マスタースレーブロボットの制御装置及び制御方法、マスタースレーブロボット、並びに、制御プログラム
JP6008121B2 (ja) * 2013-01-28 2016-10-19 セイコーエプソン株式会社 ロボットおよびロボット制御装置
JP5905840B2 (ja) 2013-01-30 2016-04-20 トヨタ自動車株式会社 触覚センサシステム、軌道取得装置、及び、ロボットハンド
WO2014130353A1 (fr) * 2013-02-25 2014-08-28 LuxVue Technology Corporation Ensemble manipulateur d'outil de transfert de masse et support d'ensemble de micro-préhenseurs ayant un capteur de déplacement intégré
BR112015020589B8 (pt) * 2013-02-26 2022-03-22 Sinan Kabakci Ahmet Sistema manipulador robótico
WO2014146095A1 (fr) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Système et procédés de gestion de multiples objectifs de zone morte et de comportements sli
JP5846145B2 (ja) * 2013-03-18 2016-01-20 株式会社安川電機 ロボットシステム、及び、ロボットシステムの制御方法
JP5742862B2 (ja) * 2013-03-18 2015-07-01 株式会社安川電機 ロボット装置及び被加工物の製造方法
US9840008B2 (en) * 2013-03-19 2017-12-12 Panasonic Intellectual Property Management Co., Ltd. Robot system control method and robot system
KR20140121933A (ko) * 2013-04-08 2014-10-17 삼성전자주식회사 수술 로봇
KR20140121581A (ko) * 2013-04-08 2014-10-16 삼성전자주식회사 수술 로봇 시스템
EP2955842B1 (fr) * 2013-04-11 2017-10-18 Panasonic Intellectual Property Management Co., Ltd. Dispositif d'entrainement de moteur
JP5616478B1 (ja) * 2013-04-18 2014-10-29 ファナック株式会社 ワークを搬送するロボットを備えるロボットシステム
KR102061511B1 (ko) * 2013-04-26 2020-01-02 삼성전자주식회사 청소 로봇, 홈 모니터링 장치 및 그 제어 방법
JP6168890B2 (ja) 2013-04-30 2017-07-26 株式会社ダイヘン ロボット制御装置および多層盛溶接ロボットにおけるオフセット値の教示方法
KR20140139840A (ko) * 2013-05-28 2014-12-08 삼성전자주식회사 디스플레이 장치 및 그 제어방법
US9403279B2 (en) * 2013-06-13 2016-08-02 The Boeing Company Robotic system with verbal interaction
US9314924B1 (en) * 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
JP6188440B2 (ja) * 2013-06-17 2017-08-30 キヤノン株式会社 ロボット装置及びロボット制御方法
JP6164948B2 (ja) * 2013-06-20 2017-07-19 キヤノン株式会社 ロボット装置及び部品の製造方法
JP6473919B2 (ja) * 2013-06-24 2019-02-27 パナソニックＩｐマネジメント株式会社 マスタスレーブロボットの制御装置及び制御方法、ロボット、マスタスレーブロボットの制御プログラム、並びに、マスタスレーブロボットの制御用集積電子回路
US9162357B2 (en) * 2013-06-26 2015-10-20 Canon Kabushiki Kaisha Control method for robot system and robot system
JP6109001B2 (ja) * 2013-07-26 2017-04-05 オリンパス株式会社 医療用システムおよびその作動方法
CN107272888B (zh) * 2013-07-26 2019-12-27 株式会社东芝 信息处理设备
US20150032258A1 (en) * 2013-07-29 2015-01-29 Brain Corporation Apparatus and methods for controlling of robotic devices
JP6097174B2 (ja) * 2013-08-05 2017-03-15 株式会社東芝 ロボット制御装置
JP6410022B2 (ja) * 2013-09-06 2018-10-24 パナソニックＩｐマネジメント株式会社 マスタスレーブロボットの制御装置及び制御方法、ロボット、マスタスレーブロボットの制御プログラム、並びに、マスタスレーブロボットの制御用集積電子回路
JP6476662B2 (ja) * 2013-09-20 2019-03-06 株式会社デンソーウェーブ ロボット操作装置、ロボットシステム、及びロボット操作プログラム
JP2015071206A (ja) * 2013-10-03 2015-04-16 セイコーエプソン株式会社 制御装置、ロボット、教示データ生成方法及びプログラム
CN104802174B (zh) * 2013-10-10 2016-09-07 精工爱普生株式会社 机器人控制系统、机器人、程序以及机器人控制方法
CA2928645C (fr) * 2013-10-25 2021-10-26 Aleksandar VAKANSKI Approche de planification de la trajectoire d'un robot en fonction d'images
JP6314426B2 (ja) * 2013-10-31 2018-04-25 セイコーエプソン株式会社 ロボット制御装置およびロボット制御方法
DE102013222456A1 (de) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter
JP6005299B2 (ja) * 2013-11-28 2016-10-12 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
KR101527176B1 (ko) * 2013-12-09 2015-06-09 (주)미래컴퍼니 수술 로봇 장치 및 수술 로봇 장치의 제어 방법
JP5815761B2 (ja) * 2014-01-23 2015-11-17 ファナック株式会社 視覚センサのデータ作成システム及び検出シミュレーションシステム
US9358685B2 (en) * 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
TWI530375B (zh) * 2014-02-05 2016-04-21 廣明光電股份有限公司 機器手臂的教導裝置及方法
CN104827457B (zh) 2014-02-07 2016-09-14 广明光电股份有限公司 机器手臂的教导装置及方法
US9314922B2 (en) * 2014-02-07 2016-04-19 Control Interfaces LLC Remotely operated manipulator and ROV control systems and methods
US20150224639A1 (en) * 2014-02-07 2015-08-13 Control Interfaces LLC Remotely operated manipulator and rov control systems and methods
JP5860079B2 (ja) * 2014-02-21 2016-02-16 ファナック株式会社 複数のロボット制御装置を含むロボットシステム
JP6249403B2 (ja) 2014-02-27 2017-12-20 国立研究開発法人情報通信研究機構 光遅延線及び電子バッファ融合型光パケットバッファ制御装置
US9186794B2 (en) * 2014-03-04 2015-11-17 Fanuc Corporation Robot controller having function to simplify teaching operation and improve motion performance of robot
CN103895022A (zh) * 2014-03-17 2014-07-02 东南大学 穿戴式体感控制机械手
WO2015146180A1 (fr) * 2014-03-27 2015-10-01 パナソニックＩｐマネジメント株式会社 Procédé de commande de robot
JP6156236B2 (ja) * 2014-04-04 2017-07-05 トヨタ自動車株式会社 マスタスレーブマニピュレータの位置姿勢合わせ方法
WO2015154172A1 (fr) * 2014-04-10 2015-10-15 Quanser Consulting Inc. Systèmes robotisés et procédés de fonctionnement de systèmes robotisés
US10118714B2 (en) * 2014-04-30 2018-11-06 The Boeing Company System and method for positioning an automated assembly tool relative to a structure
US9713982B2 (en) * 2014-05-22 2017-07-25 Brain Corporation Apparatus and methods for robotic operation using video imagery
JP6397226B2 (ja) 2014-06-05 2018-09-26 キヤノン株式会社 装置、装置の制御方法およびプログラム
US9696813B2 (en) * 2015-05-27 2017-07-04 Hsien-Hsiang Chiu Gesture interface robot
JP6440385B2 (ja) * 2014-06-10 2018-12-19 キヤノン株式会社 ロボットアーム、表示装置およびロボットシステム
CN203973551U (zh) * 2014-06-13 2014-12-03 济南翼菲自动化科技有限公司 一种通过身体姿势操控的远程控制机器人
CN203973550U (zh) * 2014-06-13 2014-12-03 济南翼菲自动化科技有限公司 一种非接触式手势控制机器人
JP6350011B2 (ja) * 2014-06-20 2018-07-04 オムロン株式会社 ロボット制御システム
US10824954B1 (en) * 2014-06-25 2020-11-03 Bosch Sensortec Gmbh Methods and apparatus for learning sensor data patterns of physical-training activities
DE102014213262A1 (de) * 2014-07-08 2016-01-14 Kuka Roboter Gmbh Maschine und Verfahren zum Betreiben einer Maschine
JP6140112B2 (ja) * 2014-07-17 2017-05-31 ファナック株式会社 停止機能を備えたロボット制御システム
JP5905537B2 (ja) * 2014-07-30 2016-04-20 ファナック株式会社 教示操作盤が着脱可能なロボット制御装置
US9987749B2 (en) * 2014-08-15 2018-06-05 University Of Central Florida Research Foundation, Inc. Control interface for robotic humanoid avatar system and related methods
JP6660102B2 (ja) * 2014-08-27 2020-03-04 キヤノン株式会社 ロボット教示装置およびその制御方法、ロボットシステム、プログラム
US11232855B2 (en) * 2014-09-23 2022-01-25 Airstrip Ip Holdings, Llc Near-real-time transmission of serial patient data to third-party systems
US9290905B1 (en) * 2014-09-29 2016-03-22 The United States Of America As Represented By The Secretary Of The Navy Remote excavation tool
JP6512790B2 (ja) 2014-10-24 2019-05-15 キヤノン株式会社 ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
US10022867B2 (en) * 2014-11-11 2018-07-17 X Development Llc Dynamically maintaining a map of a fleet of robotic devices in an environment to facilitate robotic action
CN104589356B (zh) * 2014-11-27 2016-08-24 北京工业大学 基于Kinect人手运动捕捉的灵巧手遥操作控制方法
US10699929B2 (en) * 2014-12-26 2020-06-30 Kawasaki Jukogyo Kabushiki Kaisha Controller of transfer device
CN204450555U (zh) * 2015-02-16 2015-07-08 南京信息工程大学 一种基于Kinect的人体姿势同步机器人装置
KR102491907B1 (ko) * 2015-02-25 2023-01-26 마코 서지컬 코포레이션 수술절차 중에 추적 방해를 감소시키기 위한 내비게이션 시스템 및 방법
US9649766B2 (en) * 2015-03-17 2017-05-16 Amazon Technologies, Inc. Systems and methods to facilitate human/robot interaction
CN104647331B (zh) * 2015-03-23 2017-07-21 常州米泽智能装备科技有限公司 一种主从随动示教工业机器人系统
JP6088583B2 (ja) * 2015-06-08 2017-03-01 ファナック株式会社 ロボットと力の表示機能を備えたロボット制御装置
US9167418B1 (en) * 2015-06-22 2015-10-20 Invictus Technology Group, Inc. Method and apparatus for controlling input to a mobile computing device located inside a vehicle
JP6520478B2 (ja) * 2015-06-30 2019-05-29 株式会社デンソーウェーブ ロボットアームの操作システム
JP6378143B2 (ja) * 2015-07-16 2018-08-22 ファナック株式会社 エンドエフェクタの位置および姿勢を定めるガイド部を備えるロボットの教示装置
US9815198B2 (en) * 2015-07-23 2017-11-14 X Development Llc System and method for determining a work offset
US20170028549A1 (en) * 2015-07-28 2017-02-02 Comprehensive Engineering Solutions, Inc. Robotic navigation system and method
US10335951B2 (en) * 2015-07-29 2019-07-02 Canon Kabushiki Kaisha Information processing apparatus, information processing method, robot control apparatus, and robot system
CN107921639B (zh) * 2015-08-25 2021-09-21 川崎重工业株式会社 多个机器人系统间的信息共享系统及信息共享方法
US10350757B2 (en) * 2015-08-31 2019-07-16 Avaya Inc. Service robot assessment and operation
US10124491B2 (en) * 2015-08-31 2018-11-13 Avaya Inc. Operational parameters
CN204997657U (zh) 2015-09-18 2016-01-27 广东技术师范学院 一种具有模仿功能的仿生机械手
CN105328700A (zh) 2015-11-12 2016-02-17 东北大学 一种机器人灵巧手示教编程的数据手套
US10268495B2 (en) * 2016-02-18 2019-04-23 Verizon Patent And Licensing Inc. Virtual device model system
US9990685B2 (en) * 2016-03-21 2018-06-05 Recognition Robotics, Inc. Automated guidance system and method for a coordinated movement machine
CN205600721U (zh) * 2016-04-19 2016-09-28 长春理工大学 一种新型工业运转机械手
JP2018012188A (ja) * 2016-06-03 2018-01-25 ファナック アメリカ コーポレイション 複数のロボットによる動的レーザタッチセンシング及び動的ユーザ座標系
US10059005B2 (en) * 2016-06-22 2018-08-28 Quanta Storage Inc. Method for teaching a robotic arm to pick or place an object
MA46246A (fr) * 2016-09-14 2019-07-24 Armatron Systems Llc Procédé de construction à base de ciment armé par impression par extrusion rapide et appareil pour son utilisation
US11305431B2 (en) * 2016-11-10 2022-04-19 Cognibotics Ab System and method for instructing a robot
FR3063667B1 (fr) * 2017-03-13 2019-04-19 Staubli Faverges Procede de commande d'une cellule de travail automatisee

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220378536A1 (en) * 2020-02-12 2022-12-01 Riverfield Inc. Surgical robot and controller of surgical robot
EP4101600A4 (fr) * 2020-02-12 2023-08-09 RIVERFIELD Inc. Robot chirurgical et unité de commande pour un robot chirurgical

Also Published As

Publication number Publication date
US10932874B2 (en) 2021-03-02
EP3342555A1 (fr) 2018-07-04
WO2017033378A1 (fr) 2017-03-02
WO2017033365A1 (fr) 2017-03-02
TW201710043A (zh) 2017-03-16
EP3342549A4 (fr) 2019-06-19
US20180257240A1 (en) 2018-09-13
KR102018242B1 (ko) 2019-09-04
JP2021053802A (ja) 2021-04-08
JPWO2017033359A1 (ja) 2018-06-07
US10806534B2 (en) 2020-10-20
TW201707885A (zh) 2017-03-01
TW201714102A (en) 2017-04-16
US20180243910A1 (en) 2018-08-30
TW201713473A (en) 2017-04-16
EP3342552A4 (fr) 2019-06-26
WO2017033351A1 (fr) 2017-03-02
WO2017033356A1 (fr) 2017-03-02
US10631942B2 (en) 2020-04-28
EP3342549A1 (fr) 2018-07-04
CN107848116B (zh) 2021-09-28
CN107848113A (zh) 2018-03-27
CN107921645A (zh) 2018-04-17
TWI609748B (zh) 2018-01-01
WO2017033381A1 (fr) 2017-03-02
EP3342557A4 (fr) 2019-05-22
US20180243898A1 (en) 2018-08-30
CN107921638A (zh) 2018-04-17
EP3342551A1 (fr) 2018-07-04
EP3321044A1 (fr) 2018-05-16
EP3342554A1 (fr) 2018-07-04
US20180250830A1 (en) 2018-09-06
WO2017033359A1 (fr) 2017-03-02
EP3342562A1 (fr) 2018-07-04
EP3342553A1 (fr) 2018-07-04
TW201713475A (en) 2017-04-16
EP3342546A1 (fr) 2018-07-04
US20180257238A1 (en) 2018-09-13
US20180243915A1 (en) 2018-08-30
JPWO2017033360A1 (ja) 2018-06-07
CN107921624A (zh) 2018-04-17
EP3342562A4 (fr) 2019-06-26
JPWO2017033362A1 (ja) 2018-06-14
US20180243901A1 (en) 2018-08-30
JP6871857B2 (ja) 2021-05-19
TW201707895A (zh) 2017-03-01
US10835333B2 (en) 2020-11-17
WO2017033355A1 (fr) 2017-03-02
EP3342556A4 (fr) 2019-05-29
US20180243897A1 (en) 2018-08-30
JP6839085B2 (ja) 2021-03-03
CN107921644A (zh) 2018-04-17
TW201711814A (en) 2017-04-01
KR20180019706A (ko) 2018-02-26
EP3342543A1 (fr) 2018-07-04
US20180250829A1 (en) 2018-09-06
US11065070B2 (en) 2021-07-20
TW201719312A (zh) 2017-06-01
TW201707893A (zh) 2017-03-01
WO2017033358A1 (fr) 2017-03-02
EP3342550A1 (fr) 2018-07-04
WO2017033366A1 (fr) 2017-03-02
WO2017033363A1 (fr) 2017-03-02
WO2017033353A1 (fr) 2017-03-02
JPWO2017033378A1 (ja) 2018-06-14
TW201707880A (zh) 2017-03-01
EP3342549B1 (fr) 2022-04-13
CN108349095A (zh) 2018-07-31
US10702351B2 (en) 2020-07-07
CN107921636A (zh) 2018-04-17
JP6814735B2 (ja) 2021-01-20
EP3342563A1 (fr) 2018-07-04
JP6839084B2 (ja) 2021-03-03
JP7030518B2 (ja) 2022-03-07
JPWO2017033363A1 (ja) 2018-07-05
KR102055317B1 (ko) 2020-01-22
KR20180038479A (ko) 2018-04-16
KR102227422B1 (ko) 2021-03-12
US11039895B2 (en) 2021-06-22
CN107921641A (zh) 2018-04-17
JPWO2017033367A1 (ja) 2018-06-07
CN107848114B (zh) 2021-04-20
EP3342561B1 (fr) 2022-08-10
US20180257218A1 (en) 2018-09-13
KR102015522B1 (ko) 2019-08-28
US20180256271A1 (en) 2018-09-13
JPWO2017033353A1 (ja) 2018-06-07
US10792114B2 (en) 2020-10-06
KR20180019705A (ko) 2018-02-26
CN107848112B (zh) 2021-08-03
CN108349095B (zh) 2021-04-30
US10980605B2 (en) 2021-04-20
JPWO2017033379A1 (ja) 2018-06-14
CN107921640A (zh) 2018-04-17
CN107921637A (zh) 2018-04-17
JP6924142B2 (ja) 2021-08-25
TW201716195A (zh) 2017-05-16
EP3342550A4 (fr) 2019-08-21
EP3342553A4 (fr) 2019-08-07
KR102031232B1 (ko) 2019-10-11
US11116593B2 (en) 2021-09-14
US10980606B2 (en) 2021-04-20
JPWO2017033366A1 (ja) 2018-06-07
TW201707892A (zh) 2017-03-01
CN107921646A (zh) 2018-04-17
CN107921640B (zh) 2021-08-06
CN107848112A (zh) 2018-03-27
JPWO2017033377A1 (ja) 2018-07-05
US10722313B2 (en) 2020-07-28
WO2017033350A1 (fr) 2017-03-02
US11147641B2 (en) 2021-10-19
US20180250831A1 (en) 2018-09-06
EP3342552A1 (fr) 2018-07-04
EP3342565B1 (fr) 2022-03-09
JPWO2017033391A1 (ja) 2018-06-07
CN107921624B (zh) 2021-06-11
KR102094439B1 (ko) 2020-03-27
US10842578B2 (en) 2020-11-24
US10631941B2 (en) 2020-04-28
TW201707888A (zh) 2017-03-01
US20180250825A1 (en) 2018-09-06
US20180243916A1 (en) 2018-08-30
CN107921636B (zh) 2021-10-12
TWI625207B (zh) 2018-06-01
US10813709B2 (en) 2020-10-27
JP6754363B2 (ja) 2020-09-09
EP3342558B1 (fr) 2021-01-27
JP6954836B2 (ja) 2021-10-27
KR20180041218A (ko) 2018-04-23
EP3342565A1 (fr) 2018-07-04
CN107921639B (zh) 2021-09-21
TWI604930B (zh) 2017-11-11
KR20180044945A (ko) 2018-05-03
JPWO2017033364A1 (ja) 2018-07-05
CN107921634B (zh) 2021-04-02
TW201713472A (en) 2017-04-16
WO2017033376A1 (fr) 2017-03-02
EP3342545A4 (fr) 2019-10-09
KR102052038B1 (ko) 2019-12-04
WO2017033352A1 (fr) 2017-03-02
EP3342557A1 (fr) 2018-07-04
JP6788593B2 (ja) 2020-11-25
US20180243902A1 (en) 2018-08-30
EP3342554A4 (fr) 2019-07-03
US11103322B2 (en) 2021-08-31
TWI623398B (zh) 2018-05-11
US11197730B2 (en) 2021-12-14
KR20190110653A (ko) 2019-09-30
EP3342559A4 (fr) 2019-06-26
US10905508B2 (en) 2021-02-02
US20180243899A1 (en) 2018-08-30
US20180243908A1 (en) 2018-08-30
TW201711812A (en) 2017-04-01
WO2017033391A1 (fr) 2017-03-02
CN107848116A (zh) 2018-03-27
EP3342563A4 (fr) 2019-06-26
JP6731412B2 (ja) 2020-07-29
CN107921620A (zh) 2018-04-17
EP3342560B1 (fr) 2020-03-18
TW201707894A (zh) 2017-03-01
EP3342543A4 (fr) 2019-05-22
EP3342545A1 (fr) 2018-07-04
TW201711813A (en) 2017-04-01
US20180243921A1 (en) 2018-08-30
JPWO2017033352A1 (ja) 2018-06-14
JPWO2017033365A1 (ja) 2018-06-14
US10959795B2 (en) 2021-03-30
EP3342564A4 (fr) 2019-05-29
EP3342544B1 (fr) 2023-01-11
EP3342555A4 (fr) 2019-10-02
TWI611883B (zh) 2018-01-21
JPWO2017033376A1 (ja) 2018-06-14
KR20180038480A (ko) 2018-04-16
KR20180043326A (ko) 2018-04-27
TWI595987B (zh) 2017-08-21
KR20180042332A (ko) 2018-04-25
KR20180039132A (ko) 2018-04-17
EP3342554B1 (fr) 2021-12-22
EP3342541A1 (fr) 2018-07-04
CN107848114A (zh) 2018-03-27
EP3342546A4 (fr) 2019-10-09
EP3342565A4 (fr) 2019-05-22
US20180243923A1 (en) 2018-08-30
TW201707883A (zh) 2017-03-01
KR102039077B1 (ko) 2019-11-01
CN107848113B (zh) 2020-12-11
CN107921635B (zh) 2021-10-26
CN107921645B (zh) 2021-09-10
CN107921639A (zh) 2018-04-17
EP3342559A1 (fr) 2018-07-04
JP6843050B2 (ja) 2021-03-17
WO2017033360A1 (fr) 2017-03-02
US20180243922A1 (en) 2018-08-30
CN107921641B (zh) 2021-08-03
JP2022119943A (ja) 2022-08-17
CN107921623B (zh) 2021-08-06
CN107921620B (zh) 2021-04-27
JPWO2017033381A1 (ja) 2018-06-07
JPWO2017033356A1 (ja) 2018-06-14
US10702350B2 (en) 2020-07-07
EP3342558A1 (fr) 2018-07-04
EP3342552B1 (fr) 2022-08-03
CN107921625B (zh) 2021-03-23
EP3342561A1 (fr) 2018-07-04
US20180243920A1 (en) 2018-08-30
TWI631447B (zh) 2018-08-01
JPWO2017033351A1 (ja) 2018-06-07
EP3342541B1 (fr) 2024-03-13
EP3342541A4 (fr) 2019-05-01
JPWO2017033357A1 (ja) 2018-06-14
JP6843051B2 (ja) 2021-03-17
WO2017033357A1 (fr) 2017-03-02
WO2017033377A1 (fr) 2017-03-02
JP6782240B2 (ja) 2020-11-11
CN107921642A (zh) 2018-04-17
JPWO2017033361A1 (ja) 2018-06-07
WO2017033364A1 (fr) 2017-03-02
WO2017033380A1 (fr) 2017-03-02
WO2017033367A1 (fr) 2017-03-02
US20180243918A1 (en) 2018-08-30
EP3342551A4 (fr) 2019-07-03
KR20180039133A (ko) 2018-04-17
EP3342560A1 (fr) 2018-07-04
CN107921621A (zh) 2018-04-17
CN107921637B (zh) 2021-09-28
TWI666099B (zh) 2019-07-21
JP6754364B2 (ja) 2020-09-09
KR20180044946A (ko) 2018-05-03
JP6778199B2 (ja) 2020-10-28
JPWO2017033358A1 (ja) 2018-07-19
US10716638B2 (en) 2020-07-21
US10856945B2 (en) 2020-12-08
KR20180043328A (ko) 2018-04-27
KR102091192B1 (ko) 2020-03-20
JP6821572B2 (ja) 2021-01-27
CN107921625A (zh) 2018-04-17
CN107921622A (zh) 2018-04-17
CN107921634A (zh) 2018-04-17
TW201713474A (en) 2017-04-16
TWI673148B (zh) 2019-10-01
JPWO2017033350A1 (ja) 2018-06-07
EP3342560A4 (fr) 2019-07-03
EP3342561A4 (fr) 2019-06-12
CN107848111A (zh) 2018-03-27
JP7411012B2 (ja) 2024-01-10
TW201707890A (zh) 2017-03-01
WO2017033361A1 (fr) 2017-03-02
WO2017033379A1 (fr) 2017-03-02
CN107921623A (zh) 2018-04-17
WO2017033362A1 (fr) 2017-03-02
TW201707881A (zh) 2017-03-01
EP3342544A4 (fr) 2019-05-29
US20180243919A1 (en) 2018-08-30
KR20180042333A (ko) 2018-04-25
US20180250814A1 (en) 2018-09-06
TWI627039B (zh) 2018-06-21
EP3342564A1 (fr) 2018-07-04
JP6755874B2 (ja) 2020-09-16
JP6826532B2 (ja) 2021-02-03
CN107921635A (zh) 2018-04-17
TW201707884A (zh) 2017-03-01
JP7007910B2 (ja) 2022-01-25
EP3342542A1 (fr) 2018-07-04
JP6858124B2 (ja) 2021-04-14
CN107921642B (zh) 2021-12-28
JPWO2017033380A1 (ja) 2018-06-07
EP3342542A4 (fr) 2019-06-26
EP3321044A4 (fr) 2019-05-29
JP6778198B2 (ja) 2020-10-28
TW201707886A (zh) 2017-03-01
EP3342558A4 (fr) 2019-06-26
CN107921646B (zh) 2021-05-18
JPWO2017033355A1 (ja) 2018-08-02
TW201707882A (zh) 2017-03-01
EP3342556A1 (fr) 2018-07-04

Similar Documents

Publication Publication Date Title
US10702351B2 (en) Robot system
US12114948B2 (en) Detecting uncontrolled movement
US11234781B2 (en) Dynamic control of surgical instruments in a surgical robotic system
US9731415B2 (en) Method for the alignment of a multiaxial manipulator with an input device
EP2939632B1 (fr) Robot chirurgical
US11701770B2 (en) Robot system and method of controlling robot system
CN108210078B (zh) 手术机器人系统
EP3658059A1 (fr) Procédés d&#39;association et systèmes associés pour manipulateurs

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180222

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602016077425

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: B25J0003000000

Ipc: B25J0019060000

A4 Supplementary search report drawn up and despatched

Effective date: 20190502

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 15/08 20060101ALI20190425BHEP

Ipc: B25J 19/06 20060101AFI20190425BHEP

Ipc: A61B 34/30 20160101ALI20190425BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20210419

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20220922

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602016077425

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1543138

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230215

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230111

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1543138

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230111

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230511

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230411

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230511

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230412

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602016077425

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

26N No opposition filed

Effective date: 20231012

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230630

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20230624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230624

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230624

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230630

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230111

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230630

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230630

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240502

Year of fee payment: 9

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 602016077425

Country of ref document: DE

Owner name: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KOBE-SHI, JP

Free format text: FORMER OWNERS: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KOBE-SHI, HYOGO, JP; MEDICAROID CORPORATION, KOBE-SHI, HYOGO, JP